Collision-tolerant end-effector position control for mobile manipulator

Hun Ok Lim, Kazuhito Yokoi, Nak Young Chong, Sang Rok Oh, Kazuo Tanie, Atsuo Takanishi

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

Robots are expected to be human-friendly and safe in human-robot collaboration environments. This paper presents a new mechanism mounted on a mobile platform with a trunk suspension system which can be safely used in collisions, together with a joint-based control scheme developed to control the position of the end-effector. Under unexpected collision with humans, at first, the trunk with the passive-viscous and elastic elements can deal with contact forces and the mobility of the platform is employed if the trunk is intolerant of the contact forces. Then, the new joint configuration of the manipulator is updated to keep performing a given task. Effectiveness of the proposed mechanism and control method is verified through experiments.

Original languageEnglish
Number of pages1
Publication statusPublished - 1997 Dec 1
EventProceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97 - Tokyo, Jpn
Duration: 1997 Jun 161997 Jun 20

Other

OtherProceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97
CityTokyo, Jpn
Period97/6/1697/6/20

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Lim, H. O., Yokoi, K., Chong, N. Y., Oh, S. R., Tanie, K., & Takanishi, A. (1997). Collision-tolerant end-effector position control for mobile manipulator. Paper presented at Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97, Tokyo, Jpn, .