Title :
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
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;
Conference_Titel :
Advanced Motion Control, 2010 11th IEEE International Workshop on
Conference_Location :
Nagaoka, Niigata
Print_ISBN :
978-1-4244-6668-9
Electronic_ISBN :
1943-6572
DOI :
10.1109/AMC.2010.5464070
