{"title":"一种用于一般任务描述的运动方程","authors":"S. Sakaino, Tomoya Sato, K. Ohnishi","doi":"10.1109/AMC.2010.5464070","DOIUrl":null,"url":null,"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.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":"{\"title\":\"A novel motion equation for general task description\",\"authors\":\"S. Sakaino, Tomoya Sato, K. Ohnishi\",\"doi\":\"10.1109/AMC.2010.5464070\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":406900,\"journal\":{\"name\":\"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)\",\"volume\":\"42 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2010-03-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"5\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/AMC.2010.5464070\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AMC.2010.5464070","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A novel motion equation for general task description
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.
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