Human interactive motion of redundant manipulator by virtual nonholonornic constraint
説明
Nonholonomic constraint offers people an intuitive way to handle systems. As an application of this human ability, we set a virtual nonholonomic constraint on the end-effector of a robotic manipulator. The operator holds its end-effector and moves it as if he/she was using a shopping cart or a barrow. We use anisotropic impedance control to realize the constraint. The end-effector is able to rotate and move toward itself, but not vertically. A reaction torque observer is applied to recognize the force by the operator in order to make the system sensorless. This system offers several applications, for example, to correct a vibrating hand working on complex jobs like manufacturing and surgery.
収録刊行物
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- The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.
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The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. 375-379, 2004-06-10
IEEE