Control of passive object handling robot with free joint for reducing human assistive force
作者： Yasuhisa Hirata , Hamin Song , Zhidong Wang , Kazuhiro Kosuge
DOI: 10.1109/IROS.2007.4399272
关键词:
摘要: In this paper, we introduce a passive mobile robot called PRP to realize transportation of an object in cooperation with human which is developed based on concept robotics. The (passive porter) consists three omni-directional wheels servo brakes and controller. It can manipulate by controlling external force/moment applied the control brakes. Therefore, if required force moment for realizing manipulation are become large, burden would increase controllability decrease. To overcome these problems, propose system carries through free joint. By using joint, orientation changed intentional only controls position brake control, so that transporting could reduce compared previous version without Additionally, motion algorithm joint illustrate validity proposed its experiments handling.
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