Realization of advanced hybrid control through oblique coordinate control

Sho Sakaino; Tomoya Sato; Kouhei Ohnishi

doi:10.1541/ieejias.130.300

Realization of advanced hybrid control through oblique coordinate control

Sho Sakaino, Tomoya Sato, Kouhei Ohnishi

Research output: Contribution to journal › Article › peer-review

13 Citations (Scopus)

Abstract

In this paper, we propose position/force hybrid control in oblique coordinate. Position and force tasks are transformed by "task Jacobian matrix" and the dynamic properties are given by "task mass matrix". Bilateral control between different degrees-of-freedom systems is implemented, and its validity is experimentally verified.

Original language	English
Pages (from-to)	300-306+6
Journal	ieej transactions on industry applications
Volume	130
Issue number	3
DOIs	https://doi.org/10.1541/ieejias.130.300
Publication status	Published - 2010
Externally published	Yes

Keywords

Acceleration control
Bilateral control
Force control
Hybrid control
Oblique coordinate

ASJC Scopus subject areas

Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

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10.1541/ieejias.130.300

Cite this

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keywords = "Acceleration control, Bilateral control, Force control, Hybrid control, Oblique coordinate",

author = "Sho Sakaino and Tomoya Sato and Kouhei Ohnishi",

year = "2010",

doi = "10.1541/ieejias.130.300",

language = "English",

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T1 - Realization of advanced hybrid control through oblique coordinate control

AU - Sakaino, Sho

AU - Sato, Tomoya

AU - Ohnishi, Kouhei

PY - 2010

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AB - In this paper, we propose position/force hybrid control in oblique coordinate. Position and force tasks are transformed by "task Jacobian matrix" and the dynamic properties are given by "task mass matrix". Bilateral control between different degrees-of-freedom systems is implemented, and its validity is experimentally verified.

KW - Acceleration control

KW - Bilateral control

KW - Force control

KW - Hybrid control

KW - Oblique coordinate

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DO - 10.1541/ieejias.130.300

M3 - Article

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JO - ieej transactions on industry applications

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ER -

Realization of advanced hybrid control through oblique coordinate control

Abstract

Keywords

ASJC Scopus subject areas

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