Introduction of Damping Control for Obstacle Avoidance in Direct-Contact Cobotics Operations

Alexandre Huart, Ayanori Yorozu, Masaki Takahashi

研究成果: Conference contribution

抄録

In this study, obstacle avoidance in the collaborative robotics field, where a human operator moves the robot manually through direct contact, is investigated. If an operator is distracted or is not used to control the robot, an accident can happen during operation, which might harm the operator. For the purpose of assisting the human operator in his/her task, the integration of a damping control is proposed. Damping is a coefficient that influences the oscillations of a system. By modifying the damping of the robot, an artificial stiffness is created. The information is transmitted to the user through his/her haptic return, making it easier for him/her to avoid the obstacles in the workspace. In this study, a damping control is developed and implemented. Then, through experimentation, the efficiency of the haptic sense and the general damping control are demonstrated, and thus, an efficient, comfortable, and safe method is formulated for the operator to avoid obstacles during operations.

本文言語English
ホスト出版物のタイトルIntelligent Autonomous Systems 16 - Proceedings of the 16th International Conference IAS-16
編集者Marcelo H. Ang Jr, Hajime Asama, Wei Lin, Shaohui Foong
出版社Springer Science and Business Media Deutschland GmbH
ページ506-517
ページ数12
ISBN(印刷版)9783030958916
DOI
出版ステータスPublished - 2022
イベント16th International Conference on Intelligent Autonomous Systems, IAS-16 2020 - Virtual, Online
継続期間: 2021 6月 222021 6月 25

出版物シリーズ

名前Lecture Notes in Networks and Systems
412 LNNS
ISSN(印刷版)2367-3370
ISSN(電子版)2367-3389

Conference

Conference16th International Conference on Intelligent Autonomous Systems, IAS-16 2020
CityVirtual, Online
Period21/6/2221/6/25

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 信号処理
  • コンピュータ ネットワークおよび通信

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