1993 年 11 巻 3 号 p. 453-460
The new method of hybrid control which is not based on orthogonal compliment has been developed. The motion of a rigid body can be expressed by genaral coordinates whose basis is composed of screws (motors) . The determination of generalized forces is exactly the same as the determination of the joint torque/force of the mechanism having the jacobian composed of the elements of the basis of the general coordinates. That is, the motion generated by the hybrid control is equivalent to that of the mechanism modeled by the basis. Using the mechanical model suitable to demanded tasks, this control strategy can be used in wide range of applications. The conventional hybrid control based on the concept of orthogonal compliment is considered to be the very special case of this method.