Sensorless cooperation between human and mobile manipulator

Shunsuke Kobayashi, Abdul Muis, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

This paper presents sensorless cooperation between human and mobile manipulator. In the past, research on cooperation between human and mobile manipulator used force sensor to sense human force. This research aims to develop sensorless cooperation by reaction torque observer instead of force sensor. Utilization of disturbance torque estimation on manipulator and task limitation due to mounted force sensor are considered in this research. Kinematics and dynamical model of mobile manipulator are estimated with Newton-Euler method. Robust acceleration control is established with disturbance observer, Reaction torque is estimated from disturbance torque and dynamical model. Cooperative control method based on human force estimation is proposed using impedance control on virtual workspace. Finally, the model and the proposed methods are confirmed through experiment.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
Pages811-816
Number of pages6
Volume2005
DOIs
Publication statusPublished - 2005
Event2005 IEEE International Conference on Industrial Technology, ICIT 2005 - Hong Kong, Hong Kong
Duration: 2005 Dec 142005 Dec 17

Other

Other2005 IEEE International Conference on Industrial Technology, ICIT 2005
CountryHong Kong
CityHong Kong
Period05/12/1405/12/17

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ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Software
  • Industrial and Manufacturing Engineering

Cite this

Kobayashi, S., Muis, A., & Ohnishi, K. (2005). Sensorless cooperation between human and mobile manipulator. In Proceedings of the IEEE International Conference on Industrial Technology (Vol. 2005, pp. 811-816). [1600747] https://doi.org/10.1109/ICIT.2005.1600747