並進・回転運動を伴う人間-ロボット協調運搬作業におけるロボットの制御法(機械力学,計測,自動制御)

概要

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This paper presents a novel control method for a human-robot cooperative task, i. e., handling or positioning of an object. In order to carry out the cooperative task easily, the motion of carrying the object is alternatively restricted to translation or rotation by changing stiffness coefficients of impedance parameters of a robot. The changing of the motion is determined using an equation of equilibrium of force and torque applied by a human operator. In the proposed control method, a position of a rotation center, i. e., an impedance center, can be changed according to the intention of the human operator who desires high efficiency in the cooperative task. The rotation center is indicated using a gesture by the human operator's index finger with 3-D measurement equipment. The robot carried and positioned a hole part cooperatively together with the human operator to insert the hole part into a peg part. Experimental results illustrate that the proposed control method is suitable for the human-robot cooperative task.
社団法人日本機械学会の論文
2002-02-25