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: Chapter in Book/Report/Conference proceedingConference contribution

    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
    Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
    Place of PublicationPiscataway, NJ, United States
    PublisherIEEE
    Pages114
    Number of pages1
    Publication statusPublished - 1997
    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

    Fingerprint

    Position control
    End effectors
    Manipulators
    Robots
    Experiments

    ASJC Scopus subject areas

    • Engineering(all)

    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. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (pp. 114). Piscataway, NJ, United States: IEEE.

    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 proceedingConference contribution

    Lim, HO, Yokoi, K, Chong, NY, Oh, SR, Tanie, K & Takanishi, A 1997, Collision-tolerant end-effector position control for mobile manipulator. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. IEEE, Piscataway, NJ, United States, pp. 114, Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97, Tokyo, Jpn, 97/6/16.
    Lim HO, Yokoi K, Chong NY, Oh SR, Tanie K, Takanishi A. Collision-tolerant end-effector position control for mobile manipulator. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Piscataway, NJ, United States: IEEE. 1997. p. 114
    Lim, Hun Ok ; Yokoi, Kazuhito ; Chong, Nak Young ; Oh, Sang Rok ; Tanie, Kazuo ; Takanishi, Atsuo. / Collision-tolerant end-effector position control for mobile manipulator. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Piscataway, NJ, United States : IEEE, 1997. pp. 114
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