Collision-tolerant control algorithm for mobile manipulator with viscoelastic passive trunk

Hun Ok Lim, Kazuhito Yokoi, Qiang Huang, Sang Rok Oh, A. Takanishi, K. Tanie

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

We have proposed the collision-tolerant mobile manipulator equipped with a passive trunk (i.e., supporting part). In collision experiments with unknown environments, results show that this mechanism is suitable for the suppression of contact forces which is an important issue for human-robot collaborations. The trunk with mechanical elements such as springs and dampers is passively deformed to deal with physical contacts, while the mobile platform moves around on the horizontal plane in response to friction between the platform and the ground. The end-effector of the manipulator, however, is difficult to track a desired task due to the deformation of the compliant trunk and the mobility of the platform. In order to solve the problem, the desired joint configurations of the manipulator are directly calculated according to the movement of the trunk and the platform, and a feedback control scheme is employed.

本文言語English
ホスト出版物のタイトルProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
出版社Institute of Electrical and Electronics Engineers Inc.
ページ13-20
ページ数8
ISBN(印刷版)078034300X
DOI
出版ステータスPublished - 1998
イベント15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
継続期間: 1998 5 161998 5 20

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
1
ISSN(印刷版)1050-4729

Conference

Conference15th IEEE International Conference on Robotics and Automation, ICRA 1998
国/地域Belgium
CityLeuven
Period98/5/1698/5/20

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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