書誌事項
- タイトル別名
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- Novel Trajectory Control for Human Cooperation Robot Based on Behavior Mode Switching
- ドウサ モード キリカエ ニ モトヅク ニンゲン キョウチョウガタ ロボット ノ キドウ セイギョホウ
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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
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- 電気学会論文誌D(産業応用部門誌)
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電気学会論文誌D(産業応用部門誌) 126 (12), 1682-1689, 2006
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390282679636320768
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- NII論文ID
- 10018402775
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- NII書誌ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL書誌ID
- 8593224
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可