By Topic

Task hierarchy for position limitation and bilateral control by oblique coordinate control

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Sakaino, S. ; Dept. of Syst. Design Eng., Keio Univ. Yokohama, Yokohama, Japan ; Sato, T. ; Ohnishi, K.

This paper proposes a method for composition of a task hierarchy as an example of oblique coordinate control. As a primary task, position limitation is implemented and bilateral control is realized secondary. This hierarchy is simply given by a multiple of coordinate transform matrices and the problem can be regarded as position-force hybrid controller in oblique coordinate. Thus, the interference of the tasks are easily described by ¿task mass matrix¿ and the limitation does not destabilize systems. Validity of the method is confirmed by some experiments.

Published in:

Industrial Electronics, 2009. IECON '09. 35th Annual Conference of IEEE

Date of Conference:

3-5 Nov. 2009