{"title":"一种基于动量的解耦运动控制器组合及其在奇异构型中的应用","authors":"S. Sakaino, K. Ohnishi","doi":"10.1109/IECON.2007.4460285","DOIUrl":null,"url":null,"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.","PeriodicalId":199609,"journal":{"name":"IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society","volume":"235 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"A Composition of Decoupling Motion Controller Based on Momentum and Its Application for Singular Configurations\",\"authors\":\"S. Sakaino, K. Ohnishi\",\"doi\":\"10.1109/IECON.2007.4460285\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":199609,\"journal\":{\"name\":\"IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society\",\"volume\":\"235 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2007-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IECON.2007.4460285\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IECON.2007.4460285","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A Composition of Decoupling Motion Controller Based on Momentum and Its Application for Singular Configurations
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.
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