Sensorless cooperation between human and mobile manipulator

Shunsuke Kobayashi, Abdul Muis, Kouhei Ohnishi

研究成果: Conference contribution

10 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトル2005 IEEE International Conference on Industrial Technology, ICIT 2005
ページ811-816
ページ数6
DOI
出版物ステータスPublished - 2005 12 1
イベント2005 IEEE International Conference on Industrial Technology, ICIT 2005 - Hong Kong, Hong Kong
継続期間: 2005 12 142005 12 17

出版物シリーズ

名前Proceedings of the IEEE International Conference on Industrial Technology
2005

Other

Other2005 IEEE International Conference on Industrial Technology, ICIT 2005
Hong Kong
Hong Kong
期間05/12/1405/12/17

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • これを引用

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