A Composition of Decoupling Motion Controller Based on Momentum and Its Application for Singular Configurations

Author

Sakaino, Sho ; Ohnishi, Kouhei

Author_Institution

Keio Univ., Yokohama

fYear

2007

fDate

5-8 Nov. 2007

Firstpage

2331

Lastpage

2336

Abstract

A decoupling motion controller based on momentum is presented in this paper. Firstly, force control based on momentum is described. This controller does not have any singular points and is able to be applied to dynamic state. Moreover, inertial force which has been treated as disturbance such as centrifugal and Coriolis force is modeled with this method. Then, position and force vector is united in work space using equivalent mass matrix. After that, an application for singular configuration is proposed. Several simulation and experimental results are shown to confirm the validity of the proposed method.

Keywords

Coriolis force; force control; matrix algebra; momentum; motion control; Coriolis force; centrifugal force; decoupling motion controller; dynamic state; equivalent mass matrix; force control; force vector; inertial force; momentum; position vector; singular configurations; Control systems; Design engineering; Force control; Impedance; Jacobian matrices; Motion control; Orbital robotics; Robots; Systems engineering and theory; Weight control;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics Society, 2007. IECON 2007. 33rd Annual Conference of the IEEE

Conference_Location

Taipei

ISSN

1553-572X

Print_ISBN

1-4244-0783-4

Type

conf

DOI

10.1109/IECON.2007.4460285

Filename

4460285