Title :
Control of a robot handling an object in cooperation with a human
Author :
Kosuge, Kazuhiro ; Kazamura, Norihide
Author_Institution :
Dept. of Machine Intelligence & Syst. Eng., Tohoku Univ., Sendai, Japan
fDate :
29 Sep-1 Oct 1997
Abstract :
We consider a robot system handling an object in cooperation with a human, with which the human can easily handle a heavy object. The robot system supports and moves the object in the direction of the intentional force applied to the object by the operator. We discuss how to generate the motion of the object based on the intentional force applied to the object by the human. We propose several algorithms to generate the motion based on the intentional force and experimentally compare them
Keywords :
acceleration control; damping; force control; man-machine systems; manipulators; materials handling; position control; torque control; velocity control; heavy object; intentional force; motion generation; object handling; robot system; Automatic control; Control systems; Humans; Impedance; Intelligent robots; Medical robotics; Robot control; Robotics and automation; Service robots; Stability;
Conference_Titel :
Robot and Human Communication, 1997. RO-MAN '97. Proceedings., 6th IEEE International Workshop on
Conference_Location :
Sendai
Print_ISBN :
0-7803-4076-0
DOI :
10.1109/ROMAN.1997.646971
