Position Constrained Bilateral Control by Oblique Coordinate Control Considering Priority of Tasks
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- Sakaino Sho
- Department of Electrical and Electronic Systems, Faculty of Engineering, Saitama University
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- Sato Tomoya
- Department of System Design Engineering, Faculty of Science and Technology, Keio University
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- Ohnishi Kouhei
- Department of System Design Engineering, Faculty of Science and Technology, Keio University
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抄録
This paper proposes two position constrained bilateral controllers. The constraint is given by coordinate transformation and additional compensator or command modification methods are not necessary. The constraint therefore does not destabilize the system and maintains linearity. The difference between the two proposed methods is the task priority. The first ensures slave position limitation and force regulation between two robots, the other ensures position limitation and position regulation between the robots. We analyzed the stability of the proposed controller. The validity of the proposed methods was confirmed experimentally.
収録刊行物
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- IEEJ Journal of Industry Applications
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IEEJ Journal of Industry Applications 2 (6), 298-305, 2013
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