Manipulator for man-robot cooperation

Toshio Fukuda, Yoshio Fujisawa, Kazuhiro Kosuge, Fumihito Arai, Eiji Muro, Haruo Hoshino, Kenji Miyazaki, Kazuhiko Ohtsubo, Kazuo Uehara

Research output: Contribution to conferencePaperpeer-review

22 Citations (Scopus)

Abstract

The authors propose a control algorithm for a manipulator which executes tasks in cooperation with a human operator. The manipulator system has been designed for assisting the operator to handle heavy objects. The system has two force sensors at the end of the arm; one is used to maneuver the manipulator, and the other is used to control the interface force between the manipulator and its working environment. The proposed control system consists of two controllers; one generates the desired motion of the manipulator based on the force applied to the operational sensor by the operator, and the other controls the interaction between the manipulator and its working environment. The proposed control algorithm specifies both force augmentation and maneuverability of the manipulator. The stability of the system is discussed. The experimental system described illustrates the concept.

Original languageEnglish
Pages996-1001
Number of pages6
Publication statusPublished - 1991 Dec 1
Externally publishedYes
EventProceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91 - Kobe, Jpn
Duration: 1991 Oct 281991 Nov 1

Other

OtherProceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91
CityKobe, Jpn
Period91/10/2891/11/1

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Manipulator for man-robot cooperation'. Together they form a unique fingerprint.

Cite this