Position Constrained Bilateral Control by Oblique Coordinate Control Considering Priority of Tasks

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2013/11/01

タイトル(英語): Position Constrained Bilateral Control by Oblique Coordinate Control Considering Priority of Tasks

著者名: Sho Sakaino (Department of Electrical and Electronic Systems, Faculty of Engineering, Saitama University), Tomoya Sato (Department of System Design Engineering, Faculty of Science and Technology, Keio University), Kouhei Ohnishi (Department of System Desi

著者名(英語): Sho Sakaino (Department of Electrical and Electronic Systems, Faculty of Engineering, Saitama University), Tomoya Sato (Department of System Design Engineering, Faculty of Science and Technology, Keio University), Kouhei Ohnishi (Department of System Design Engineering, Faculty of Science and Technology, Keio University)

キーワード: bilateral control，oblique coordinate control，haptics，position constraint，constrained system

要約(英語): 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.

本誌: IEEJ Journal of Industry Applications Vol.2 No.6 （2013） Special Issue on Technologies of Rotating Machinery

本誌掲載ページ: 298-305 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/2/6/2_298/_article/-char/ja/