マスタ支援による人間とロボットの協調接触動作制御

概要

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A cooperative control approach between human and robot is important for an assisting robot system which is requied a smooth and safe contact motion when a robot makes contact with a part of the human body. The contact motion is carried out safely to fuse the recognition ability of the human operator and the sensing functions of the robot. In order to inhibit the impact force, the approaching velocity of the robot to the exvironment is adjused through the master operation by the human operator and the direct human control system is designed based on an impedance control approach to achieve the flexible motion of the robot. It is difficult to cope with the change in conditions which occurs in a short time such as contact motions by the human operator. The degree of cooperation between human and robot is adequately adjusted by fuzzy reasoning during execution of the contact motion. In this paper, the contact stability is analyzed using a root locus method. The proposed cooperative control method is applied to a pneumatic robot with three degrees of freedom. The experimental results indicate that the cooperative control method is available for the contact motion to the environment.
一般社団法人日本機械学会の論文
1999-08-25