TY - GEN
T1 - A novel motion equation for general task description
AU - Sakaino, Sho
AU - Sato, Tomoya
AU - Ohnishi, Kouhei
PY - 2010/6/25
Y1 - 2010/6/25
N2 - A novel motion equation which can realize coordinate transform described by position, momentum or time is proposed, in this paper. With this equation, coordinate transform of external force which has not been treated by canonical equation is described. In addition, a condition which is essential for canonical transform is omitted and the transform is given without solving partial differential equations. Thus, any task can be described easily and intuitively. Mobile-hapto is treated as an example of controllers based on the proposed motion equation. Its validity is confirmed by some simulations and experiments.
AB - A novel motion equation which can realize coordinate transform described by position, momentum or time is proposed, in this paper. With this equation, coordinate transform of external force which has not been treated by canonical equation is described. In addition, a condition which is essential for canonical transform is omitted and the transform is given without solving partial differential equations. Thus, any task can be described easily and intuitively. Mobile-hapto is treated as an example of controllers based on the proposed motion equation. Its validity is confirmed by some simulations and experiments.
UR - http://www.scopus.com/inward/record.url?scp=77953801250&partnerID=8YFLogxK
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U2 - 10.1109/AMC.2010.5464070
DO - 10.1109/AMC.2010.5464070
M3 - Conference contribution
AN - SCOPUS:77953801250
SN - 9781424466696
T3 - International Workshop on Advanced Motion Control, AMC
SP - 566
EP - 571
BT - AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
T2 - 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
Y2 - 21 March 2010 through 24 March 2010
ER -