This paper proposes a method for composition of a task hierarchy as an example of oblique coordinate control. As a primary task, position limitation is implemented and bilateral control is realized secondary. This hierarchy is simply given by a multiple of coordinate transform matrices and the problem can be regarded as position-force hybrid controller in oblique coordinate. Thus, the interference of the tasks are easily described by "task mass matrix" and the limitation does not destabilize systems. Validity of the method is confirmed by some experiments.
|出版ステータス||Published - 2009 12月 1|
|イベント||35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal|
継続期間: 2009 11月 3 → 2009 11月 5
|Other||35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009|
|Period||09/11/3 → 09/11/5|
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