Human interactive motion of redundant manipulator by virtual nonholonomic constraint

Satoshi Shibata, Toshiyuki Murakami

Research output: Contribution to conferencePaper

2 Citations (Scopus)

Abstract

Nonholonomic constraint offers people intuitive system being easy to handle. It is just easy for people to ride a bicycle, drive a car, or handle wheel barrow, which geometrically involve nonholonomic constraint though these actions require to get used to do. As an application of this human's ability, we set virtual nonholonomic constraint at end-effector of robotic manipulator. The operator holds its end-effector and moves it as if he/she was using a shopping cart or a barrow. This work assumes the people, especially old generation and children, to use robots without any specific skills or knowledge on the robotic system. The robotic system should be easy to understand and expect on how it will move next. In this paper, we use unisotropic impedance control to realize the constraint. End-effector is able rotate and move toward itself, but not vertically. Reaction torque observer is applied to recognize the force by the operator in order to make the system sensorless. This system offers several applications, for example, to correct vibrating hand working on complex jobs like manufacturing and surgery.

Original languageEnglish
Pages375-379
Number of pages5
Publication statusPublished - 2004 Jul 12
EventProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
Duration: 2004 Mar 252004 Mar 28

Other

OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04
CountryJapan
CityKawasaki
Period04/3/2504/3/28

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Shibata, S., & Murakami, T. (2004). Human interactive motion of redundant manipulator by virtual nonholonomic constraint. 375-379. Paper presented at Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04, Kawasaki, Japan.