Novel Trajectory Control for Human Cooperation Robot Based on Behavior Mode Switching

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  • Seki Hirokazu
    Department of Electrical, Electronics and Computer Engineering, Faculty of Engineering, Chiba Institute of Technology
  • Takahashi Kazuki
    Department of Electrical, Electronics and Computer Engineering, Faculty of Engineering, Chiba Institute of Technology
  • Tadakuma Susumu
    Department of Electrical, Electronics and Computer Engineering, Faculty of Engineering, Chiba Institute of Technology

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Other Title
  • 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
  • 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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Abstract

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.

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