Sensorless cooperation between human and mobile manipulator

Shunsuke Kobayashi; Abdul Muis; Kouhei Ohnishi

doi:10.1109/ICIT.2005.1600747

Sensorless cooperation between human and mobile manipulator

Shunsuke Kobayashi, Abdul Muis, Kouhei Ohnishi

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-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 language	English
Title of host publication	2005 IEEE International Conference on Industrial Technology, ICIT 2005
Pages	811-816
Number of pages	6
DOIs	https://doi.org/10.1109/ICIT.2005.1600747
Publication status	Published - 2005
Event	2005 IEEE International Conference on Industrial Technology, ICIT 2005 - Hong Kong, Hong Kong Duration: 14 Dec 2005 → 17 Dec 2005

Publication series

Name	Proceedings of the IEEE International Conference on Industrial Technology
Volume	2005

Conference

Conference	2005 IEEE International Conference on Industrial Technology, ICIT 2005
Country/Territory	Hong Kong
City	Hong Kong
Period	14/12/05 → 17/12/05

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10.1109/ICIT.2005.1600747

Cite this

@inproceedings{b21b3178314844638c9395039cf3588e,

title = "Sensorless cooperation between human and mobile manipulator",

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.",

author = "Shunsuke Kobayashi and Abdul Muis and Kouhei Ohnishi",

year = "2005",

doi = "10.1109/ICIT.2005.1600747",

language = "English",

isbn = "0780394844",

series = "Proceedings of the IEEE International Conference on Industrial Technology",

pages = "811--816",

booktitle = "2005 IEEE International Conference on Industrial Technology, ICIT 2005",

note = "2005 IEEE International Conference on Industrial Technology, ICIT 2005 ; Conference date: 14-12-2005 Through 17-12-2005",

}

Kobayashi, S, Muis, A & Ohnishi, K 2005, Sensorless cooperation between human and mobile manipulator. in 2005 IEEE International Conference on Industrial Technology, ICIT 2005., 1600747, Proceedings of the IEEE International Conference on Industrial Technology, vol. 2005, pp. 811-816, 2005 IEEE International Conference on Industrial Technology, ICIT 2005, Hong Kong, Hong Kong, 14/12/05. https://doi.org/10.1109/ICIT.2005.1600747

Sensorless cooperation between human and mobile manipulator. / Kobayashi, Shunsuke; Muis, Abdul; Ohnishi, Kouhei.
2005 IEEE International Conference on Industrial Technology, ICIT 2005. 2005. p. 811-816 1600747 (Proceedings of the IEEE International Conference on Industrial Technology; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Sensorless cooperation between human and mobile manipulator

AU - Kobayashi, Shunsuke

AU - Muis, Abdul

AU - Ohnishi, Kouhei

PY - 2005

Y1 - 2005

N2 - 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.

AB - 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.

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U2 - 10.1109/ICIT.2005.1600747

DO - 10.1109/ICIT.2005.1600747

M3 - Conference contribution

AN - SCOPUS:33847311286

SN - 0780394844

SN - 9780780394841

T3 - Proceedings of the IEEE International Conference on Industrial Technology

SP - 811

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BT - 2005 IEEE International Conference on Industrial Technology, ICIT 2005

T2 - 2005 IEEE International Conference on Industrial Technology, ICIT 2005

Y2 - 14 December 2005 through 17 December 2005

ER -

Sensorless cooperation between human and mobile manipulator

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