Human-robot cooperative manipulation with motion estimation

被引：0
|
作者：
Maeda, Y [1 ]
Hara, T [1 ]
Arai, T [1 ]
机构：
[1] Univ Tokyo, Sch Engn, Dept Precis Engn, Bunkyo Ku, Tokyo 1138656, Japan
来源：
IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4: EXPANDING THE SOCIETAL ROLE OF ROBOTICS IN THE NEXT MILLENNIUM | 2001年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a control method of robots for human-robot cooperative manipulation is investigated. We propose estimating human motion using the minimum jerk model for smooth cooperation. Using nonlinear least-squares method, we identify two parameters of the minimum-jerk model in real-time. The estimated position of the human hand is used to determine the desired position of the end-effector of the manipulator in virtual compliance control. The effectiveness of the proposed method is verified by experimentation with an industrial 6-degree-of-freedom manipulator. Energy transfer in cooperative manipulation is studied for quantitative evaluation of achieved cooperation from the viewpoint of adaptation theory.
引用
收藏
页码：2240 / 2245
页数：6
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