Task Description and Control for Redundant System by Oblique Coordinate Control
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概要
- 論文の詳細を見る
This paper proposes a novel task description for redundant systems as an extension of oblique coordinate control. Orthogonality of tasks are not necessary and interference between a task space and a null space is precisely described in off-diagonal parameters of “task mass matrix” in this method. Dynamics of the null space is also considered with its basic variables. In order to decouple the spaces, a null space regulator is proposed. Conventionally, this kind of decoupling is given by selecting a mass matrix as a weighting matrix of the pseudo inverse. On the other hand, arbitrary weighting matrices can be selected in our approach. Some comments for sub tasks are given. In a short word, “there is few need of sub tasks”. Validity of the proposed method is analyzed and is confirmed by experiments.
- 2010-08-01
著者
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SAKAINO Sho
Department of System Design Engineering, Faculty of Science and Technology, Keio University
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SATO Tomoya
Department of System Design Engineering, Faculty of Science and Technology, Keio University
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OHNISHI Kouhei
Department of System Design Engineering, Faculty of Science and Technology, Keio University
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Sakaino Sho
Department Of System Design Engineering Faculty Of Science And Technology Keio University
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Ohnishi Kouhei
Department Of System Design Engineering Faculty Of Science And Technology Keio University
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Sato Tomoya
Department Of System Design Engineering Faculty Of Science And Technology Keio University
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Ohnishi Kouhei
Department Of Integrated Design Engineering Keio University
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Ohnishi Kouhei
Department Of Electrical Engineering Keio University
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