Experimental evaluation of transformer gyrator switching bilateral control

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.