TY - GEN
T1 - Control of manipulator/vehicle system for man-robot cooperation based on human intention
AU - Fujisawa, Yoshio
AU - Fukuda, Toshio
AU - Kosuge, Kazuhiro
AU - Arai, Fumihito
AU - Muro, Eiji
AU - Hoshino, Haruo
AU - Miyazaki, Takashi
AU - Ohtsubo, Kazuhiko
AU - Uehara, Kazuo
N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].
PY - 1992
Y1 - 1992
N2 - In this paper, we propose a control method for the Manipulator/Vehicle System for Man-Robot Cooperation. The manipulator/vehicle system has the redundant degrees of freedom. In order to control the system, we have to decompose the motion of the endeffector in the inertial coordinate system into the vehicle's motion and the manipulator's motion because the motion of the endeffector with respect to the inertial coordinate system is realized by both the manipulator's motion and the vehicle's motion. How to decompose the endeffector's motion is one of the key issues for the manipulator/vehicle system. If one wants to move the system to another place, the motion of the endeffector should be realized by the vehicle's motion. On the other hand, if one wants to manipulate an object, the motion of the endeffector should be done by the manipulator's motion. That is, the decomposition of the endeffector's motion in the inertial coordinate system should be done based on the human intention. The control method, which is proposed in this paper, controls the motion of the manipulator and the motion of the vehicle based on the operator's intention modelled by fuzzy rules. The experimental results illustrates the effectiveness of the proposed control method for the manipulator/vehicle system for man-robot cooperation. © 1992 IEEE.
AB - In this paper, we propose a control method for the Manipulator/Vehicle System for Man-Robot Cooperation. The manipulator/vehicle system has the redundant degrees of freedom. In order to control the system, we have to decompose the motion of the endeffector in the inertial coordinate system into the vehicle's motion and the manipulator's motion because the motion of the endeffector with respect to the inertial coordinate system is realized by both the manipulator's motion and the vehicle's motion. How to decompose the endeffector's motion is one of the key issues for the manipulator/vehicle system. If one wants to move the system to another place, the motion of the endeffector should be realized by the vehicle's motion. On the other hand, if one wants to manipulate an object, the motion of the endeffector should be done by the manipulator's motion. That is, the decomposition of the endeffector's motion in the inertial coordinate system should be done based on the human intention. The control method, which is proposed in this paper, controls the motion of the manipulator and the motion of the vehicle based on the operator's intention modelled by fuzzy rules. The experimental results illustrates the effectiveness of the proposed control method for the manipulator/vehicle system for man-robot cooperation. © 1992 IEEE.
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U2 - 10.1109/ROMAN.1992.253890
DO - 10.1109/ROMAN.1992.253890
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 0780307534
SN - 9780780307537
T3 - 1992 Proceedings IEEE International Workshop on Robot and Human Communication, ROMAN 1992
SP - 188
EP - 193
BT - 1992 Proceedings IEEE International Workshop on Robot and Human Communication, ROMAN 1992
PB - IEEE
T2 - 1992 IEEE International Workshop on Robot and Human Communication, ROMAN 1992
Y2 - 1 September 1992 through 3 September 1992
ER -