動作モード切換えに基づく人間協調型ロボットの軌道制御法 Novel Trajectory Control for Human Cooperation Robot Based on Behavior Mode Switching

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著者

    • 関 弘和 SEKI Hirokazu
    • 千葉工業大学 工学部 電気電子情報工学科 Department of Electrical, Electronics and Computer Engineering, Faculty of Engineering, Chiba Institute of Technology
    • 高橋 一樹 TAKAHASHI Kazuki
    • 千葉工業大学 工学部 電気電子情報工学科 Department of Electrical, Electronics and Computer Engineering, Faculty of Engineering, Chiba Institute of Technology
    • 多田隈 進 TADAKUMA Susumu
    • 千葉工業大学 工学部 電気電子情報工学科 Department of Electrical, Electronics and Computer Engineering, Faculty of Engineering, Chiba Institute of Technology

抄録

This paper describes a novel trajectory control system for human cooperation robots based on behavior mode switching. Human cooperation robots have the great possibility to serve as useful support systems for elderly people and physically handicapped people and it is expected to realize the smooth and human-friendly support movements. This study defines three behavior modes in human cooperation motion and their respective trajectory control system are designed. In the trajectory design, minimum jerk model is introduced to realize the smooth and human-friendly cooperation movements. In addition, the initial value compensation at the mode switching is also developed. Some experiments on two-axis plane robot and performance evaluation by trial subjects show the effectiveness of the proposed trajectory control system.

収録刊行物

  • 電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society  

    電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society 126(12), 1682-1689, 2006-12-01 

    The Institute of Electrical Engineers of Japan

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各種コード

  • NII論文ID(NAID)
    10018402775
  • NII書誌ID(NCID)
    AN10012320
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    09136339
  • NDL 記事登録ID
    8593224
  • NDL 雑誌分類
    ZN31(科学技術--電気工学・電気機械工業)
  • NDL 請求記号
    Z16-1608
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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