Manipulator for Ran-Robot Cooperation Work (2nd Report, Control Method of Manipulator in Construction Considering Interaction with Environment)

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

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

In this paper, we describe a control method for the man-robot cooperation work type of manipulator, which is maneuvered directly by applying the intentional force to the operation control sensor (force/torque sensor) by an operator. In this control system, we designed the motion of the manipulator considering the intentional force and the interaction between the manipulator and the environment. In order to realize this motion of the manipulator, we used two impedance controllers. One is the human impedance controller, which describes the relation between the intentional force and the displacement of the manipulator. The other is the environmental impedance controller, which describes the relation between the contact force and the displacement of the manipulator. By using these impedance controllers, this manipulator can be maneuvered directly by an operator and we can control the interaction between the manipulator and the environment. We can also use thhese impedance controllers for the improvement of work efficiency.

Original languageEnglish
Pages (from-to)829-836
Number of pages8
Journaltransactions of the japan society of mechanical engineers series c
Volume58
Issue number547
DOIs
Publication statusPublished - 1992 Jan 1
Externally publishedYes

Keywords

  • Controller
  • Impedance Controller
  • Man-Robot Cooperation
  • Manipulator
  • Robot in Construction
  • Robotics

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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