2A1-B09 人間-ロボット協調作業系におけるマンマシンインターフェイスの開発(人間機械協調)

概要

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The purpose of this study is to develop an interface that detects the contact conditions and a robot motion control method for a human-robot cooperative task. The proposed interface is set at the lower tip of the robot to detect the contact conditions between the robot and the external environment. The proposed device and impedance control method provide stable motion of the robot that comes in contact with the external environment. To confirm the effectiveness of the proposed control system, human-robot cooperative contact experiments were carried out. Experimental results show that the proposed impedance control makes the system stable. It is confirmed that the robot comes in contact with the external environment with high shock absorbing efficiency.
一般社団法人日本機械学会の論文
2011-05-26