1A1-M08 力学的相互作用を伴う協調系における人間-ロボット間の相対運動情報に基づくロボットの運動制御法(人間機械協調)

概要

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In this paper, the development of a human motion detecting device and control strategy for a human-robot dynamical interaction is presented. The proposed device and control strategy enable a human operator to interact with a robot intuitively. Relative motion information between the human operator and the robot are detected as positional data by the proposed detecting device. The modified impedance control superposes the positional data on desired motion commands for the robot. Consequently, the motion of the robot is generated using the force information and the positional deflection information between the human operator and the robot. Experimental results illustrate that the proposed system is effective for the human-robot dynamical interaction.
2007-05-11