Variable compliance control for transfer support robot

Kouta Yokoyama, Tomoyuki Shimono, Takahiro Mizoguchi, Andrea Zignoli, Kohei Ohnishi

研究成果: Conference contribution

抄録

Recently in Japan, increase in necessity of nursing care with elderly society has been problematic. Transfer task of a person in need of nursing care is one of the heavy load for care-worker. Additionally, the problem of the privacy protection for the disability in the private space such as a toilet and bath is a serious issue. Therefore, the aim of this research is to develop the transfer support robot which enables to promote the independence of the disability in the private space. In this paper, as the first step of the realization, the necessary movements and controls are clarified. The newly-designed variable compliance control method is proposed. In the proposed method, compliance control is applied to the position control based control system. The stiffness of the robot changes smoothly based on the information of disturbance force caused by human motion and weight. It means that safety cooperative work is possible even when humans perform irregular movements. By the proposed method, when a disturbance force occurs downward direction due to a human weight, the robot has highly stiffness value. When a disturbance force occurs upward direction due to a human motion, the robot has lowly stiffness value. The validity of the proposed method was confirmed by simulation and experiment using a 2-link manipulator imitate the transfer support robot.

本文言語English
ホスト出版物のタイトルProceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1953-1958
ページ数6
ISBN(電子版)9781509014125
DOI
出版ステータスPublished - 2017 8 3
イベント26th IEEE International Symposium on Industrial Electronics, ISIE 2017 - Edinburgh, Scotland, United Kingdom
継続期間: 2017 6 182017 6 21

出版物シリーズ

名前IEEE International Symposium on Industrial Electronics

Other

Other26th IEEE International Symposium on Industrial Electronics, ISIE 2017
国/地域United Kingdom
CityEdinburgh, Scotland
Period17/6/1817/6/21

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学

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