分析了双级阻抗与单级阻抗在约束条件下的直接教学方法的区别

2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2011-11-01 DOI:10.1109/URAI.2011.6146012

Chanhun Park, J. Kyung, Taeyong Choi

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引用次数: 5

摘要

对于约束条件下的直接教学，可以考虑单级阻抗和双级阻抗两种类型的阻抗系统。单阻抗系统结构简单，但不能分别感知教学信号和触点信号。双级阻抗系统结构复杂，但能分别感知教学信号和触点信号。本文将总结两种解决方案的差异。

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The difference between the double stages of impedance and the single stage of the impedance for a direct teaching method in a constraint condition

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.

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2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

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