Experimental evaluation of transformer gyrator switching bilateral control

Takahiro Mizoguchi; Daisuke Yashiro; Kouhei Ohnishi

doi:10.1109/IECON.2011.6119373

Experimental evaluation of transformer gyrator switching bilateral control

Takahiro Mizoguchi, Daisuke Yashiro, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

This paper proposes a method for operator to feel the softness of the environment under work volume difference between master robot and slave robot. Proposed method switches transformer type acceleration based bilateral control and gyrator type acceleration based bilateral control depending on the condition of motion. Threshold for slave force is used to switch the control. Experimental result verifies the effect of the proposal and compares result from the same motion performed by transformer gyrator integrated acceleration based bilateral control.

Original language	English
Title of host publication	Proceedings
Subtitle of host publication	IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society
Pages	569-574
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2011.6119373
Publication status	Published - 2011 Dec 1
Event	37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011 - Melbourne, VIC, Australia Duration: 2011 Nov 7 → 2011 Nov 10

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)

Other

Other	37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011
Country	Australia
City	Melbourne, VIC
Period	11/11/7 → 11/11/10

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2011.6119373

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Cite this

Experimental evaluation of transformer gyrator switching bilateral control. / Mizoguchi, Takahiro; Yashiro, Daisuke; Ohnishi, Kouhei.

Proceedings: IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society. 2011. p. 569-574 6119373 (IECON Proceedings (Industrial Electronics Conference)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Mizoguchi, T, Yashiro, D & Ohnishi, K 2011, Experimental evaluation of transformer gyrator switching bilateral control. in Proceedings: IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society., 6119373, IECON Proceedings (Industrial Electronics Conference), pp. 569-574, 37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011, Melbourne, VIC, Australia, 11/11/7. https://doi.org/10.1109/IECON.2011.6119373

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