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 |
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| 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 | |
| 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) |
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Other
| Other | 37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011 |
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| Country | Australia |
| City | Melbourne, VIC |
| Period | 11/11/7 → 11/11/10 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
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Cite this
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 (pp. 569-574). [6119373] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2011.6119373