Collision-tolerant end-effector position control for mobile manipulator

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

研究成果: Paper査読

1 被引用数 (Scopus)

抄録

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.

本文言語English
ページ数1
出版ステータスPublished - 1997 12 1
イベントProceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97 - Tokyo, Jpn
継続期間: 1997 6 161997 6 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

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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