2台の冗長マニピュレータと人間との協調搬送制御 : 冗長性を利用した障害物回避の一手法

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.