Realization of advanced hybrid control through oblique coordinate control

Sho Sakaino, Tomoya Sato, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

13 Citations (Scopus)


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 languageEnglish
Pages (from-to)300-306+6
Journalieej transactions on industry applications
Issue number3
Publication statusPublished - 2010
Externally publishedYes


  • 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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