变压器旋转体一体化双边控制中的模态变换

2011 IEEE International Symposium on Industrial Electronics Pub Date : 2011-06-27 DOI:10.1109/ISIE.2011.5984499

T. Mizoguchi, Yusuke Kasahara, D. Yashiro, K. Ohnishi

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引用次数: 3

摘要

提出了一种任务模式转换到变压器-旋转器集成(TGI)双边控制的方法。该方法设想在机器人工作空间差异的情况下实现任务间的双边控制。任务模式TGI双边控制使操作员能够用简单的动作完成复杂的任务。通过仿真和实验验证了该方案的有效性。

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Modal transformation in transformer gyrator integrated type bilateral control

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.

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2011 IEEE International Symposium on Industrial Electronics

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