A Composition of Decoupling Motion Controller Based on Momentum and Its Application for Singular Configurations
A Composition of Decoupling Motion Controller Based on Momentum and Its Application for Singular Configurations
复制标题
基于动量的解耦运动控制器的组成及其在奇异结构中的应用
DOI：
10.1109/iecon.2007.4460285
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
K. Ohnishi
中科院分区：
文献类型：
--
作者：
S. Sakaino;K. Ohnishi
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.
DOI：
10.1115/1.3139652
发表时间：
1981-01-01
影响因子：
1.7
作者：
RAIBERT, MH;CRAIG, JJ
通讯作者：
CRAIG, JJ