Human-Robot Cooperative Handling of a Long Object. Control Method in a Vertical Plane Based on Human Cooperative Behavior.
Human-Robot Cooperative Handling of a Long Object. Control Method in a Vertical Plane Based on Human Cooperative Behavior.
复制标题
人机协作处理长物体。
DOI：
10.1299/kikaic.67.162
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发表时间：
2001
期刊：
影响因子：
--
通讯作者：
K. Tanie
中科院分区：
文献类型：
--
作者：
Y. Hayashibara;Yukinobu Sonoda;T. Takubo;H. Arai;K. Tanie
我们研究了一个机器人辅助系统，用于处理一个长的物体，这是很难支持一个点。机器人抓住物体的一端，并帮助另一端的人类操作员搬运它。这里考虑的是垂直平面内的这种合作搬运。通过实验测量和分析人类的合作行为来寻找控制策略。为了简化系统，仅使用诸如力、位置和速度的动觉信息。水平方向的控制律可以建模为阻抗控制，而垂直方向的控制律是为了保持物体的水平姿态。在这种方法中，机器人支持一半的重力载荷，而不管物体的质量和长度。将这些控制律应用于机器人手臂上，实验结果表明，机器人和人能够协同搬运较长的物体。
We study a robotic assistance system for handling of a long object that is difficult to support with one point. The robot grasps one end of the object and helps the human operator at the other end to carry it. Such a cooperative handling in a vertical plane is considered here. Human cooperative behavior is experimentally measured and analyzed to find the control strategy. To simplify the system, only kinesthetic information such as force, position and velocity is used. The control law in the horizontal direction can be modeled as impedance control, and that in the vertical direction is to maintain the posture of the object horizontally. In this method, the robot supports half of the gravitational load irrespective of the mass and length of the object. These control laws are implemented to a robot arm. The experimental results show that the robot and human can carry a long object cooperatively.