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 language | English |
|---|---|
| Title of host publication | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM |
| Place of Publication | Piscataway, NJ, United States |
| Publisher | IEEE |
| Pages | 114 |
| Number of pages | 1 |
| Publication status | Published - 1997 |
| Event | Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97 - Tokyo, Jpn Duration: 1997 Jun 16 → 1997 Jun 20 |
Other
| Other | Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97 |
|---|---|
| City | Tokyo, Jpn |
| Period | 97/6/16 → 97/6/20 |
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ASJC Scopus subject areas
- Engineering(all)
Cite this
Collision-tolerant end-effector position control for mobile manipulator. / Lim, Hun Ok; Yokoi, Kazuhito; Chong, Nak Young; Oh, Sang Rok; Tanie, Kazuo; Takanishi, Atsuo.
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Piscataway, NJ, United States : IEEE, 1997. p. 114.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Collision-tolerant end-effector position control for mobile manipulator
AU - Lim, Hun Ok
AU - Yokoi, Kazuhito
AU - Chong, Nak Young
AU - Oh, Sang Rok
AU - Tanie, Kazuo
AU - Takanishi, Atsuo
PY - 1997
Y1 - 1997
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0031365344&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0031365344&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0031365344
SP - 114
BT - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
PB - IEEE
CY - Piscataway, NJ, United States
ER -