抄録
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.
| 本文言語 | English |
|---|---|
| ページ | 2785-2790 |
| ページ数 | 6 |
| DOI | |
| 出版ステータス | Published - 2002 12 1 |
| イベント | Proceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society - Sevilla, Spain 継続期間: 2002 11 5 → 2002 11 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