Human-Machine Cooperative Grasping/Manipulating System Using Force-based Compliance Controller with Force Threshold

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2016/03/01

タイトル(英語): Human-Machine Cooperative Grasping/Manipulating System Using Force-based Compliance Controller with Force Threshold

著者名: Naoki Motoi (Graduate School of Maritime Sciences, Kobe University), Ryogo Kubo (Department of Electronics and Electrical Engineering, Keio University)

著者名(英語): Naoki Motoi (Graduate School of Maritime Sciences, Kobe University), Ryogo Kubo (Department of Electronics and Electrical Engineering, Keio University)

キーワード: motion control，human-machine cooperative system，force controller，compliance controller

要約(英語): In recent years, there have been several studies on human-machine cooperative systems. These systems involve contact between humans and the environment. Therefore, it is necessary to create a safe system in order to avoid injuring humans and the environment. On the other hand, task realization is also important. From this viewpoint, a force-based compliance controller with a force threshold is proposed in this paper. This controller achieves both task realization and adaptation to the environment. This motion selection is conducted by comparing the force command and a force threshold. In addition, a human-machine cooperative grasping/manipulating system using the proposed controller is developed. This system can conduct a human-machine cooperative motion, which consists of an autonomous motion and a human-assisting motion. The priorities of the autonomous motion and the human-assisting motion are easily designed by changing the force thresholds. The validity of the proposed system is confirmed with experimental results.

本誌: IEEJ Journal of Industry Applications Vol.5 No.2 （2016） Special Issue on Motion Control and its Related Technologies

本誌掲載ページ: 39-46 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/5/2/5_39/_article/-char/ja/