Realization of Advanced Hybrid Control through Oblique Coordinate Control

• Sakaino Sho

  Department of System Design Engineering, Faculty of Science and Technology, Keio University

• Sato Tomoya

  Department of System Design Engineering, Faculty of Science and Technology, Keio University

• Ohnishi Kouhei

  Department of System Design Engineering, Faculty of Science and Technology, Keio University

Bibliographic Information

Other Title

• 斜交座標制御を用いた高度なハイブリッド制御の実現
• ハスカイ ザヒョウ セイギョ オ モチイタ コウド ナ ハイブリッド セイギョ ノ ジツゲン

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.

Journal

• IEEJ Transactions on Industry Applications

  IEEJ Transactions on Industry Applications 130 (3), 300-306, 2010

  The Institute of Electrical Engineers of Japan

Keywords

• hybrid control
• force control
• acceleration control
• bilateral control
• oblique coordinate

Details

• CRID: 1390001204658075776
• NII Article ID: 10026229936
• NII Book ID: AN10012320
• DOI: 10.1541/ieejias.130.300
• BIBCODE: 2010IJTIA.130..300S
• ISSN: 13488163
• ISSN: 09136339
• NDL BIB ID: 10600779
• Web Site: http://id.ndl.go.jp/bib/10600779
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I10600779
• Web Site: http://www.jstage.jst.go.jp/article/ieejias/130/3/130_3_300/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed