A novel motion equation for general task description

Author

Sakaino, Sho ; Sato, Tomoya ; Ohnishi, Kouhei

Author_Institution

Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan

fYear

2010

fDate

21-24 March 2010

Firstpage

566

Lastpage

571

Abstract

A novel motion equation which can realize coordinate transform described by position, momentum or time is proposed, in this paper. With this equation, coordinate transform of external force which has not been treated by canonical equation is described. In addition, a condition which is essential for canonical transform is omitted and the transform is given without solving partial differential equations. Thus, any task can be described easily and intuitively. Mobile-hapto is treated as an example of controllers based on the proposed motion equation. Its validity is confirmed by some simulations and experiments.

Keywords

force control; mobile robots; motion control; partial differential equations; transforms; canonical transform; coordinate transform; external force; general task description; mobile-hapto controller; novel motion equation; partial differential equations; Control systems; Discrete Fourier transforms; Discrete transforms; Humans; Lagrangian functions; Motion control; Partial differential equations; Production facilities; Robot kinematics; Sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control, 2010 11th IEEE International Workshop on

Conference_Location

Nagaoka, Niigata

ISSN

1943-6572

Print_ISBN

978-1-4244-6668-9

Electronic_ISBN

1943-6572

Type

conf

DOI

10.1109/AMC.2010.5464070

Filename

5464070