Experimental evaluation of transformer gyrator switching bilateral control

Takahiro Mizoguchi, Daisuke Yashiro, Kouhei Ohnishi

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings
ホスト出版物のサブタイトルIECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society
ページ569-574
ページ数6
DOI
出版ステータスPublished - 2011
外部発表はい
イベント37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011 - Melbourne, VIC, Australia
継続期間: 2011 11月 72011 11月 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011
国/地域Australia
CityMelbourne, VIC
Period11/11/711/11/10

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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