3P1-P02 マスタ・スレーブロボットのための実時間自己衝突回避(感覚・運動・計測(2))  [in Japanese] 3P1-P02 Real-time Self-Collision Avoidance for Master-Slave Robot Systems(Sense, Motion and Measurement (2))  [in Japanese]

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Abstract

In recent years, the demand for robots to perform various tasks in dangerous environments has increased. Operation type robots are more suitable for dangerous environments than autonomous robots because human operators can give suitable judgement. We have developed a new master-slave robot system which consists of both a light weight master system and a high-power slave robot, and it is useful for quick and powerful remote operation. However, in quick motions of master-slave systems, self-collision avoidance become a serious problem. In this paper, we propose a novel self-collision avoidance method for master-slave robot systems. In the proposed method, smooth transitions between normal operation and self-collision avoidance are performed. In the self-collision avoidance, the robot are controlled so as to be positioned on the nearest point within its operation permitted area. We show that the proposed method is effective for our master-slave robot system in experiments.

Journal

  • The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2014(0), _3P1-P02_1-_3P1-P02_4, 2014

    The Japan Society of Mechanical Engineers

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