2P1-I04 人間の操作力減少を考慮したパッシブ型移動ロボットのための物体協調搬送制御(作業移動ロボット・メカトロニクス)

概要

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In this paper, we introduce a passive type mobile robot referred to as "PRP" to realize a transportation of an object in cooperation with a human based on a concept of passive robotics. PRP consists of support frame, three onmi-directional wheels with servo brakes (MR Brakes) and a controller. It can manipulate an object by controlling the external force/moment applied by human based on the control of the servo brakes. In this case, when the required external force/moment becomes large, tue transportation can be out of control. To overcome this problem, we propose a system in which the PRP grabs an object by using a Free .Joint so that compared to the previous version of PRP, t;he human operator can transport the object without considering the orientation of the robot, and the required intentional force for transporting the object could be reduced, Addlitionally, in this paper, we propose motion control algorithm for this system and we illustrate the decrease of handling force which is needed for transportation by using this algorithm.
一般社団法人日本機械学会の論文
2007-05-11