Motion control of mobile manipulator for human interaction

Eri Yamanaka, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to conferencePaper

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 languageEnglish
Pages2785-2790
Number of pages6
DOIs
Publication statusPublished - 2002 Dec 1
EventProceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society - Sevilla, Spain
Duration: 2002 Nov 52002 Nov 8

Other

OtherProceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society
CountrySpain
CitySevilla
Period02/11/502/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Yamanaka, E., Murakami, T., & Ohnishi, K. (2002). Motion control of mobile manipulator for human interaction. 2785-2790. Paper presented at Proceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society, Sevilla, Spain. https://doi.org/10.1109/IECON.2002.1182836