マスタ支援による人間とロボットの協調倣い制御 : ファジィ推論による協調手法

概要

論文の詳細を見る
Cooperative control approach between human and robot plays an important role in carrying out diversified tasks which vary according to the work situation. The degree of participation of the human operator must be determined according to the work situation; therefore, a flexible cooperating process which allows varying degrees of direct human control and autonomous robot control is required in order to achieve successful cooperative control. This study proposes such a process using fuzzy reasoning to achieve the cooperative control. The degree of human control and autonomous robot control is determined according to the working strategy and working circumstance in this system. Some contacting tasks and avoidance motions are executed for various object walls using a two degrees of freedom Cartesian robot. The results indicate the validity of the proposed cooperative method for cooperative control between human and robot.
一般社団法人日本機械学会の論文
1997-01-25