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
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;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2011 8th International Conference on
Conference_Location :
Incheon
Print_ISBN :
978-1-4577-0722-3
DOI :
10.1109/URAI.2011.6146012
