NDLI: Control of mobile manipulators for power assist systems

Content Provider	IEEE Xplore Digital Library
Author	Hyoung-Ki Lee Takubo, T. Arai, H. Tanie, K.
Copyright Year	1999
Description	Author affiliation: Dept. of Robotics, Mech. Eng. Lab., Ibaraki, Japan (Hyoung-Ki Lee)
Abstract	We present a control algorithm for mobile power assist systems. Most mobile power assist systems have a heavy mobile base to prevent easy tumbling. So continual movement of the base during operations causes high energy consumption and gives the high risk of human injury. Furthermore, the slow dynamics of the base limits the frequency bandwidth of the whole system. Thus we propose a cooperation control method of the mobile base and manipulator to remove the unnecessary movement of the base. In our scheme, the mobile base does not move until the center of gravity (C.G.) of the system goes outside the safety region. When C.G. reaches the boundary of the safety region, the base starts to move to recover the manipulator's initial configuration. By varying the parameters of a human impedance controller, the operator is warned by a force feedback that C.G. is on the marginal safety region. Assigning a nonlinear mass-damper-spring impedance to the tip of the manipulator, our scheme is implemented. The experimental results are presented to demonstrate the efficacy of the control algorithm.
Starting Page	989
Ending Page	994
File Size	531916
Page Count	6
File Format	PDF
ISBN	0780357310
ISSN	1062922X
DOI	10.1109/ICSMC.1999.812545
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-10-12
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Control systems Safety Humans Impedance Energy consumption Injuries Frequency Bandwidth Manipulator dynamics Gravity
Content Type	Text
Resource Type	Article

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