Oblique coordinate control for advanced motion control applied to micro-macro bilateral control

IEEE 2009 International Conference on Mechatronics, ICM 2009

Volumn , Issue , 2009, Pages

  Sakaino, Sho ^a   Sato, Tomoya ^a   Ohnishi, Kouhei ^a  

^a KEIO UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

BILATERAL CONTROL; COORDINATE CONTROL; DYNAMIC PROPERTY; HYBRID CONTROLLER; HYBRID CONTROLS; MASS MATRICES; METRIC TENSOR; MICRO-MACRO;

MECHATRONICS; VECTORS;

CONTROLLERS;

EID: 67650323909     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICMECH.2009.4957183     Document Type: Conference Paper

References (8)

1. M. H. Raibert and J. J. Craig, "Hybrid position/force control of robot manipulators," Transactions of ASME, Journal of Dynamic Systems, Measurement, and Control, vol. 102, pp. 126-133, 1981.
2. O. Khatib, "A unified approach for motion and force control of robot manipulators : The operational space formulation," IEEE Transactions of Robotics and Automation, vol. RA-3, no. I, pp. 43-53, 1987.
3. M. Morisawa and K. Ohnishi, "Motion control taking environmental information into account," EPE Journal, vol. 12, no. 4, pp. 37-41, 2002.
4. R. Kubo and K. Ohnishi, "An extraction method of environmental surface profile using planar end-effectors," Proceedings of the 9th IEEE International Workshop on Advanced Motion Control, pp. 368-373, 2006.
5. T. Tsuji and K. Ohnishi, "A controller design method of decentralized control system," Proceedings of International Power Electronics Conference, pp. 1378-1385, April 2005.
6. S. Sakaino, T. Sato, and K. Ohnishi, "Haptic communication between different structures with disturbance observer in modal space," Proceedings of the 2008 International Workshop on Vision, Communications and Circuits, pp. 213-216, November 2008.
7. T. Shimono, S. Katsura, S. Susa, T. Takei, and K. Ohnishi, "Transmission of real world force sensation by micro/macro bilateral control based on acceleration control with standardization matrix," IEEJ Transactions on Industry Applications, vol. 128-D, pp. 726-732, June 2008. (in Japanese).
8. T. Murakami, F. Yu, and K. Ohnishi, "Torque sensorless control in multidegree-of-freedom manipulator," Transactions on Industrial Electronics, vol. 40, no. 2, pp. 259-265, 1993.