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

Sho Sakaino; Tomoya Sato; Kouhei Ohnishi

doi:10.1109/IECON.2009.5414839

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

Sho Sakaino, Tomoya Sato, Kouhei Ohnishi

Department of System Design Engineering

Research output: Contribution to conference › Paper › peer-review

4 Citations (Scopus)

Abstract

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.

Original language	English
Pages	1794-1799
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2009.5414839
Publication status	Published - 2009 Dec 1
Event	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal Duration: 2009 Nov 3 → 2009 Nov 5

Other

Other	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
Country/Territory	Portugal
City	Porto
Period	09/11/3 → 09/11/5

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/IECON.2009.5414839

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AU - Sato, Tomoya

AU - Ohnishi, Kouhei

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AB - 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.

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T2 - 35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009

Y2 - 3 November 2009 through 5 November 2009

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

Abstract

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