PSD based virtual nonholonomic constraint for human interaction of redundant manipulator

Satoshi Shibata, Toshiyuki Murakami

研究成果: Paper

2 被引用数 (Scopus)

抄録

Most of people can drive a car, ride a bicycle or handle shopping cart, which geometrically involve nonholonomic constraint Nonholonomic system offers people an intuitive system to handle simply. As an application of this human's ability, we set virtual nonholonomic constraint at the end-effector of robot manipulator. The operator grasps its end-effector and handles it as if he is using a shopping cart This work assumes the people, especially old generation and children, to use robots without any specific skills or knowledge on the robot system. And then, the robot system should be simple to expect how it will move next. In this paper, we propose a human interaction system of redundant manipulator and people using virtual nonholonomic constraint Virtual nonholonomic constraint will be realized with constraint Jacobian and Position Sensitive Detector(PSD). By reaction torque estimation observer, the system provides a power assist, which will help people with carrying some heavy stuffs. The potentiality and effectiveness of this system are confirmed by computational simulation.

本文言語English
ページ1136-1140
ページ数5
出版ステータスPublished - 2004 12 1
イベント2004 IEEE International Conference on Control Applications - Taipei, Taiwan, Province of China
継続期間: 2004 9 22004 9 4

Other

Other2004 IEEE International Conference on Control Applications
CountryTaiwan, Province of China
CityTaipei
Period04/9/204/9/4

ASJC Scopus subject areas

  • Engineering(all)

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