Abstract
The authors propose a control algorithm for a manipulator which executes tasks in cooperation with a human operator. The manipulator system has been designed for assisting the operator to handle heavy objects. The system has two force sensors at the end of the arm; one is used to maneuver the manipulator, and the other is used to control the interface force between the manipulator and its working environment. The proposed control system consists of two controllers; one generates the desired motion of the manipulator based on the force applied to the operational sensor by the operator, and the other controls the interaction between the manipulator and its working environment. The proposed control algorithm specifies both force augmentation and maneuverability of the manipulator. The stability of the system is discussed. The experimental system described illustrates the concept.
| Original language | English |
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| Pages | 996-1001 |
| Number of pages | 6 |
| Publication status | Published - 1991 Dec 1 |
| Externally published | Yes |
| Event | Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91 - Kobe, Jpn Duration: 1991 Oct 28 → 1991 Nov 1 |
Other
| Other | Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91 |
|---|---|
| City | Kobe, Jpn |
| Period | 91/10/28 → 91/11/1 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering