Motion control of mobile manipulator for human interaction

Eri Yamanaka; Toshiyuki Murakami; Kouhei Ohnishi

doi:10.1109/IECON.2002.1182836

Motion control of mobile manipulator for human interaction

Eri Yamanaka, Toshiyuki Murakami, Kouhei Ohnishi

Department of System Design Engineering

Research output: Contribution to conference › Paper › peer-review

5 Citations (Scopus)

Abstract

This paper aims at the improvement in a future life using a mobile manipulator. For example, power assistance of old people and cooperative operation with human. For coexistence of robot and human being, it is required that a person can work in cooperation with robot safety. To make this environment, this paper introduces the impedance control. When the force command by human is added, robot follows it. When the force command is not added, robot follows the position command. By this motion, robot can perform desired impedance motion and soft operation. This is one of the remarkable points in the proposed strategy. The validity of the proposed method is confirmed by experimental results.

Original language	English
Pages	2785-2790
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2002.1182836
Publication status	Published - 2002 Dec 1
Event	Proceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society - Sevilla, Spain Duration: 2002 Nov 5 → 2002 Nov 8

Other

Other	Proceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society
Country	Spain
City	Sevilla
Period	02/11/5 → 02/11/8

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/IECON.2002.1182836

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AB - This paper aims at the improvement in a future life using a mobile manipulator. For example, power assistance of old people and cooperative operation with human. For coexistence of robot and human being, it is required that a person can work in cooperation with robot safety. To make this environment, this paper introduces the impedance control. When the force command by human is added, robot follows it. When the force command is not added, robot follows the position command. By this motion, robot can perform desired impedance motion and soft operation. This is one of the remarkable points in the proposed strategy. The validity of the proposed method is confirmed by experimental results.

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