2P1-D09 人とパッシブ型搬送ロボットによる物体の協調搬送制御

概要

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The goal of this research is to develop transportation system in cooperation with human by using passive-type mobile robot based on Passive Robotics. The concept of Passive Robotics is not only to achieve sophisticated functions using various RT (Robot Technology) but also to be very useful in cooperation with human and have safety in society. In this paper, we develop a prototype passive-type transportation mobile robot referred to as "PRP" and describe its special control characteristics. In addition, we propose a basic motion control algorithm for passive-type mobile robot by weighing the differences between active type mobile robot characteristics and passive ones. The proposed algorithm is experimentally applied to PRP and illustrated by the experimental results.
一般社団法人日本機械学会の論文