Kinematics and dynamics of motion control based on acceleration control

Kiyoshi Ohishi, Yuzuru Ohba, Seiichiro Katsura

Research output: Contribution to journalArticlepeer-review

8 Citations (Scopus)


The first IEEE International Workshop on Advanced Motion Control was held in 1990 pointed out the importance of physical interpretation of motion control. The software servoing technology is now common in machine tools, robotics, and mechatronics. It has been intensively developed for the numerical control (NC) machines. Recently, motion control in unknown environment will be more and more important. Conventional motion control is not always suitable due to the lack of adaptive capability to the environment. A more sophisticated ability in motion control is necessary for compliant contact with environment. Acceleration control is the key technology of motion control in unknown environment. The acceleration control can make a motion system to be a zero control stiffness system without losing the robustness. Furthermore, a realization of multi-degree-of-freedom motion is necessary for future human assistance. A human assistant motion will require various control stiffness corresponding to the task. The review paper focuses on the modal coordinate system to integrate the various control stiffness in the virtual axes. A bilateral teleoperation is a good candidate to consider the future human assistant motion and integration of decentralized systems. Thus the paper , reviews and discusses the bilateral teleoperation from the control stiffness and the modal control design points of view.

Original languageEnglish
Pages (from-to)545-553
Number of pages9
Journalieej transactions on industry applications
Issue number6
Publication statusPublished - 2007
Externally publishedYes


  • Acceleration control
  • Bilateral control
  • Control stiffness
  • Modal coordinate
  • Motion control
  • Multi-inertia system

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


Dive into the research topics of 'Kinematics and dynamics of motion control based on acceleration control'. Together they form a unique fingerprint.

Cite this