Human-Robot Cooperative Handling of a Long Object. Control Method in a Horizontal Plane Using Virtual Nonholonomic Constraint.
Human-Robot Cooperative Handling of a Long Object. Control Method in a Horizontal Plane Using Virtual Nonholonomic Constraint.
复制标题
人机协作处理长物体。
DOI：
10.1299/kikaic.66.2677
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发表时间：
2000
期刊：
影响因子：
--
通讯作者：
Y. Hayashibara
中科院分区：
文献类型：
--
作者：
T. Takubo;H. Arai;K. Tanie;Y. Hayashibara
一个机器人援助系统，用于处理只有一个支撑点的长物体，这些物体难以操纵。机器人抓住物体的一端，并帮助人类操作员在另一端携带。这里考虑了水平平面中的这种合作操作。提出的控制方法使用虚拟的非语言约束。物体的移动被限制，好像它被携带在固定在物体上的车轮上一样。此方法可以防止对象侧向滑动并简化携带操作。实验结果表明，当机器人帮助时，操作员可以轻松处理长对象。
A robotic assistance system for handling long objects that are difficult to manipulate with only one point of support is presented. The robot grasps one end of the object and helps the human operator to carry at the other end. Such cooperative manipulation in a horizontal plane is considered here. The control method proposed uses a virtual nonholonomic constraint. The movement of the object is constrained as if it were being carried on a wheel attached to the object. This method can prevent the object from slipping sideways and simplify the carrying operation. The experimental results show that an operator can easily handle a long object when aided by the robot.