Sensorless cooperation between human and mobile manipulator

Shunsuke Kobayashi, Abdul Muis, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

10 Citations (Scopus)

Abstract

This paper presents sensorless cooperation between human and mobile manipulator. In the past, research on cooperation between human and mobile manipulator used force sensor to sense human force. This research aims to develop sensorless cooperation by reaction torque observer instead of force sensor. Utilization of disturbance torque estimation on manipulator and task limitation due to mounted force sensor are considered in this research. Kinematics and dynamical model of mobile manipulator are estimated with Newton-Euler method. Robust acceleration control is established with disturbance observer, Reaction torque is estimated from disturbance torque and dynamical model. Cooperative control method based on human force estimation is proposed using impedance control on virtual workspace. Finally, the model and the proposed methods are confirmed through experiment.

Original languageEnglish
Title of host publication2005 IEEE International Conference on Industrial Technology, ICIT 2005
Pages811-816
Number of pages6
DOIs
Publication statusPublished - 1 Dec 2005
Event2005 IEEE International Conference on Industrial Technology, ICIT 2005 - Hong Kong, Hong Kong
Duration: 14 Dec 200517 Dec 2005

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology
Volume2005

Conference

Conference2005 IEEE International Conference on Industrial Technology, ICIT 2005
CountryHong Kong
CityHong Kong
Period14/12/0517/12/05

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