Collision-tolerant end-effector position control for mobile manipulator

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

Collision-tolerant end-effector position control for mobile manipulator

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

^*Corresponding author for this work

School of Creative Science and Engineering

Research output: Contribution to conference › Paper › peer-review

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 language	English
Number of pages	1
Publication status	Published - 1997 Dec 1
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

ASJC Scopus subject areas

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

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.

1997. Paper presented at Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97, Tokyo, Jpn.

Research output: Contribution to conference › Paper › peer-review

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title = "Collision-tolerant end-effector position control for mobile manipulator",

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.",

author = "Lim, {Hun Ok} and Kazuhito Yokoi and Chong, {Nak Young} and Oh, {Sang Rok} and Kazuo Tanie and Atsuo Takanishi",

year = "1997",

month = dec,

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note = "Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97 ; Conference date: 16-06-1997 Through 20-06-1997",

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AU - Lim, Hun Ok

AU - Yokoi, Kazuhito

AU - Chong, Nak Young

AU - Oh, Sang Rok

AU - Tanie, Kazuo

AU - Takanishi, Atsuo

PY - 1997/12/1

Y1 - 1997/12/1

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.

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M3 - Paper

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T2 - Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97

Y2 - 16 June 1997 through 20 June 1997

ER -

Collision-tolerant end-effector position control for mobile manipulator

Abstract

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ASJC Scopus subject areas

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