Title :
Interactive control of human/robot sharing same workspace
Author :
Lew, Jae Y. ; Jou, Yung-Tsan ; Pasic, Hajrudin
Author_Institution :
Dept. of Mech. Eng., Ohio Univ., Athens, OH, USA
Abstract :
This paper presents a basic motion-planning/feedback-control algorithm for a robot working with a human in the same workspace. With the proposed control scheme, robots can be safe and easy to use when unexpected events occur. The algorithm is based on: (1) inertia reduction, (2) passivity, and (3) parametric path planning. A preliminary simulation study is performed to show its effectiveness with a two-link manipulator
Keywords :
feedback; interactive systems; man-machine systems; motion control; path planning; robots; ease of use; feedback control algorithm; human/robot shared workspace; inertia reduction; interactive control; motion planning algorithm; parametric path planning; passivity; safety; simulation; two-link manipulator; unexpected events; Force sensors; Humans; Impedance; Intelligent robots; Mechanical engineering; Path planning; Robot kinematics; Robot sensing systems; Robust stability; Safety;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.894659
