Title :
Modal transformation in transformer gyrator integrated type bilateral control
Author :
Mizoguchi, Takahiro ; Kasahara, Yusuke ; Yashiro, Daisuke ; Ohnishi, Kouhei
Author_Institution :
Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan
Abstract :
This paper proposes a method of implementing a task mode transformation to the transformer-gyrator integrated (TGI) bilateral control. Such a method envisions achieving bilateral control between tasks under workspace difference between robots. Task mode TGI bilateral control enables operators to perform complicated tasks with simple action. The effect of the proposal is verified through simulation and experiment.
Keywords :
gyrators; modal analysis; robots; robot; task mode TGI bilateral control; task mode transformation; transformer-gyrator integrated bilateral control; workspace difference; Frequency modulation; Grasping; Manganese; Robots;
Conference_Titel :
Industrial Electronics (ISIE), 2011 IEEE International Symposium on
Conference_Location :
Gdansk
Print_ISBN :
978-1-4244-9310-4
Electronic_ISBN :
Pending
DOI :
10.1109/ISIE.2011.5984499
