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 | IECON Proceedings (Industrial Electronics Conference) |
| Pages | 569-574 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2011 |
| Event | 37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011 - Melbourne, VIC, Australia Duration: 2011 Nov 7 → 2011 Nov 10 |
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 |
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ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
Experimental evaluation of transformer gyrator switching bilateral control. / Mizoguchi, Takahiro; Yashiro, Daisuke; Ohnishi, Kouhei.
IECON Proceedings (Industrial Electronics Conference). 2011. p. 569-574 6119373.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Experimental evaluation of transformer gyrator switching bilateral control
AU - Mizoguchi, Takahiro
AU - Yashiro, Daisuke
AU - Ohnishi, Kouhei
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84856540492&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84856540492&partnerID=8YFLogxK
U2 - 10.1109/IECON.2011.6119373
DO - 10.1109/IECON.2011.6119373
M3 - Conference contribution
AN - SCOPUS:84856540492
SN - 9781612849720
SP - 569
EP - 574
BT - IECON Proceedings (Industrial Electronics Conference)
ER -