DocumentCode
3244618
Title
The difference between the double stages of impedance and the single stage of the impedance for a direct teaching method in a constraint condition
Author
Park, ChanHun ; Kyung, Jin Ho ; Choi, Tae-yong
Author_Institution
Robot. & Mechatron. Res. Center, Korea Inst. of Machinery & Mater., Daejeon, South Korea
fYear
2011
fDate
23-26 Nov. 2011
Firstpage
776
Lastpage
777
Abstract
For the direct teaching in a constraint condition, two types of impedance system can be considered, a single stage of impedance and double stages of impedance. Single impedance system is simple but it cannot feel the teaching signal and the contact signal separately. Double stages of impedance system is complicated but it can feel the teaching signal and the contact signal separately. In this paper, the difference of two solutions will be summarized.
Keywords
electric variables control; learning (artificial intelligence); manipulators; constraint condition; contact signal; direct teaching method; double impedance stages; manipulator; single impedance stage; Education; Force; Impedance; Manipulators; Torque; Trajectory; List keywords here; No more than 5;
fLanguage
English
Publisher
ieee
Conference_Titel
Ubiquitous Robots and Ambient Intelligence (URAI), 2011 8th International Conference on
Conference_Location
Incheon
Print_ISBN
978-1-4577-0722-3
Type
conf
DOI
10.1109/URAI.2011.6146012
Filename
6146012
Link To Document