Towards safe human-robot interaction: Joint impedance control of a new teleoperated robot arm

被引：0
|
作者：
Tsetserukou, Dzmitry [1 ]
Tadakuma, Riichiro [1 ]
Kajimoto, Hiroyuki [2 ]
Kawakami, Naoki [1 ]
Tachi, Susumu [1 ]
机构：
[1] Univ Tokyo, Dept Informat Phys & Comp, Tokyo, Japan
[2] Univ Electrocommun, Dept Human Commun, Tokyo, Japan
来源：
2007 RO-MAN: 16TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, VOLS 1-3 | 2007年
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The paper focuses on design and joint impedance control of a new teleoperated robot arm enabling torque measurement in each joint by means of incorporation of devised optical torque sensors. When the contact of arm with an object occurs, joint impedance algorithm provides active compliance of corresponding robot arm joint Thus, the whole structure of the manipulator can safely interact with unstructured environment In the paper, we describe detailed design procedure of the 4-DOF robot arm and optical torque sensors. To extract force signal from measured data, the gravity compensation algorithm was elaborated and verified. The experimental results of joint impedance control show that proposed strategy provides safe interaction of entire structure of robot arm with human beings and ensures the collision avoidance.
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页码：855 / +
页数：2
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