Manipulator/vehicle system for man-robot cooperation

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

研究成果: Conference contribution

34 被引用数 (Scopus)

抄録

The authors propose a center of gravity control method for a manipulator/vehicle system to ensure that the system cannot fall down. Different from the manipulator avoiding tumbling is a very serious problem for the manipulator/vehicle system not fixed on the floor/ground tightly. Therefore, the authors consider an algorithm for controlling both the tip position of the end effector and the center of gravity of the manipulator and the payload being carried by the manipulator. This control algorithm was applied to the manipulator with the vehicle for man-robot cooperation. The trajectory of the manipulator is given by a human operator and the center of gravity is set so as not to tumble previously. An experiment was carried out to confirm the effectiveness of this control algorithm for the manipulator/vehicle system.

本文言語English
ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
出版社Publ by IEEE
ページ74-79
ページ数6
ISBN(印刷版)0818627204
出版ステータスPublished - 1992 4 1
外部発表はい
イベントProceedings 1992 IEEE International Conference on Robotics and Automation - Nice, Fr
継続期間: 1992 5 121992 5 14

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
1

Other

OtherProceedings 1992 IEEE International Conference on Robotics and Automation
CityNice, Fr
Period92/5/1292/5/14

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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