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 |
|---|---|
| Title of host publication | IECON Proceedings (Industrial Electronics Conference) |
| Pages | 2785-2790 |
| Number of pages | 6 |
| Volume | 4 |
| DOIs | |
| Publication status | Published - 2002 |
| 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 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
Cite this
Motion control of mobile manipulator for human interaction. / Yamanaka, Eri; Murakami, Toshiyuki; Ohnishi, Kouhei.
IECON Proceedings (Industrial Electronics Conference). Vol. 4 2002. p. 2785-2790.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Motion control of mobile manipulator for human interaction
AU - Yamanaka, Eri
AU - Murakami, Toshiyuki
AU - Ohnishi, Kouhei
PY - 2002
Y1 - 2002
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=0036957226&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0036957226&partnerID=8YFLogxK
U2 - 10.1109/IECON.2002.1182836
DO - 10.1109/IECON.2002.1182836
M3 - Conference contribution
AN - SCOPUS:0036957226
VL - 4
SP - 2785
EP - 2790
BT - IECON Proceedings (Industrial Electronics Conference)
ER -