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

Sho Sakaino, Tomoya Sato, Kouhei Ohnishi

研究成果: Paper

3 引用 (Scopus)

抜粋

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
ページ1794-1799
ページ数6
DOI
出版物ステータスPublished - 2009 12 1
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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • これを引用

    Sakaino, S., Sato, T., & Ohnishi, K. (2009). Task hierarchy for position limitation and bilateral control by oblique coordinate control. 1794-1799. 論文発表場所 35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009, Porto, Portugal. https://doi.org/10.1109/IECON.2009.5414839