Task hierarchy for position limitation and bilateral control by oblique coordinate control

Sho Sakaino, Tomoya Sato, Kouhei Ohnishi

研究成果: Conference contribution

1 引用 (Scopus)

抄録

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.

元の言語English
ホスト出版物のタイトルIECON Proceedings (Industrial Electronics Conference)
ページ1794-1799
ページ数6
DOI
出版物ステータスPublished - 2009
イベント35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal
継続期間: 2009 11 32009 11 5

Other

Other35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
Portugal
Porto
期間09/11/309/11/5

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Controllers
Chemical analysis
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

これを引用

Sakaino, S., Sato, T., & Ohnishi, K. (2009). Task hierarchy for position limitation and bilateral control by oblique coordinate control. : IECON Proceedings (Industrial Electronics Conference) (pp. 1794-1799). [5414839] https://doi.org/10.1109/IECON.2009.5414839

Task hierarchy for position limitation and bilateral control by oblique coordinate control. / Sakaino, Sho; Sato, Tomoya; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). 2009. p. 1794-1799 5414839.

研究成果: Conference contribution

Sakaino, S, Sato, T & Ohnishi, K 2009, Task hierarchy for position limitation and bilateral control by oblique coordinate control. : IECON Proceedings (Industrial Electronics Conference)., 5414839, pp. 1794-1799, 35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009, Porto, Portugal, 09/11/3. https://doi.org/10.1109/IECON.2009.5414839
Sakaino S, Sato T, Ohnishi K. Task hierarchy for position limitation and bilateral control by oblique coordinate control. : IECON Proceedings (Industrial Electronics Conference). 2009. p. 1794-1799. 5414839 https://doi.org/10.1109/IECON.2009.5414839
Sakaino, Sho ; Sato, Tomoya ; Ohnishi, Kouhei. / Task hierarchy for position limitation and bilateral control by oblique coordinate control. IECON Proceedings (Industrial Electronics Conference). 2009. pp. 1794-1799
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