TY - GEN
T1 - Experimental evaluation of transformer gyrator switching bilateral control
AU - Mizoguchi, Takahiro
AU - Yashiro, Daisuke
AU - Ohnishi, Kouhei
PY - 2011/12/1
Y1 - 2011/12/1
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.
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U2 - 10.1109/IECON.2011.6119373
DO - 10.1109/IECON.2011.6119373
M3 - Conference contribution
AN - SCOPUS:84856540492
SN - 9781612849720
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 569
EP - 574
BT - Proceedings
T2 - 37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011
Y2 - 7 November 2011 through 10 November 2011
ER -