Manipulator/vehicle system for man-robot cooperation

Author

Fukuda, Toshio ; Fujisawa, Yoshio ; Kosuge, Kazuhiro ; Arai, Fumihito ; Muro, Eiji ; Hoshino, Haruo ; Miyazaki, Takasi ; Utubo, K. ; Uehara, Kazuo

Author_Institution

Dept. of Mech. Eng., Nagoya Univ., Nagoya, Japan

fYear

1992

fDate

12-14 May 1992

Firstpage

74

Abstract

The authors propose a center of gravity control method for a manipulator/vehicle system to ensure that the system cannot fall down. The algorithm controls the tip position of the end effector and the combined center of gravity of the manipulator and the payload. This control algorithm has been applied to a system in which a human cooperates with a robot. The trajectory of the manipulator is given by the operator and the center of gravity is pre-set so that it does not tumble. An experiment was carried out to confirm the effectiveness of this control algorithm for the manipulator/vehicle system

Keywords

man-machine systems; mechanical stability; mechanical variables control; mobile robots; center of gravity control; center of gravity position control; end-effector tip position control; man-robot cooperation; manipulator/vehicle system; trajectory; Control systems; Force control; Force sensors; Gravity; Humans; Manipulators; Payloads; Robotics and automation; Service robots; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Conference_Location

Nice

Print_ISBN

0-8186-2720-4

Type

conf

DOI

10.1109/ROBOT.1992.220332

Filename

220332