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jpn
Title Transcription
2ダイ ノ ジョウチョウ マニピュレータ ト ニンゲン トノ キョウチョウ ハンソウ セイギョ : ジョウチョウセイ オ リヨウ シタ ショウガイブツ カイヒ ノ イチシュホウ
Title Alternative (English)
Cooperative Transporting Control for Two Redundant Manipulators and One Human : A Method of Obstacle Avoidance Utilizing Kinematic Redundancy
Author
Taniguchi, Takao
Description
A cooperative transporting control method is proposed for two 7-DOF manipulators and one human in this paper. This control method is based on an impedance control law. An object is transported in any direction according to the force added by the human. The force is measured with a 6-DOF force sensor installed at the wrist of the manipulator. When the manipulators cooperate with the human to transport the object, the manipulators should not only support the human but also avoid some obstacles around them. The manipulators avoid the obstacles by utilizing the kinematic redundancy of the manipulator. The virtual force generated by virtual impedance is used in avoiding action. The virtual impedance is set between the manipulators and the obstacles. The effectiveness of the proposed methods is verified through simulations.
Subject
Manipulator
Motion Control
Automation
Kinematic Redundancy
Obstacle Avoidance
Human-Robot Interaction
Virtual Impedance
Journal Title
日本機械学会論文集. C編
Volume
79
Issue
808
Start Page
4734
End Page
4745
ISSN
03875024
Published Date
2013-12
DOI
NCID
AN00187463
Publisher
一般社団法人日本機械学会
Publisher Aalternative
The Japan Society of Mechanical Engineers
NII Type
Journal Article
Resource URL(IsVersionOf)
https://www.jstage.jst.go.jp/article/kikaic/79/808/79_4734/_article/-char/ja/
Rights
一般社団法人日本機械学会
Gyoseki ID
e28231
OAI-PMH Set
Interdisciplinary Graduate School of Science and Engineering
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