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- Publisher Website: 10.1109/ROBOT.2007.363907
- Scopus: eid_2-s2.0-36348956672
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Conference Paper: Control passive mobile robots for object transportation braking torque analysis and motion control
Title | Control passive mobile robots for object transportation braking torque analysis and motion control |
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Authors | |
Issue Date | 2007 |
Citation | Proceedings - IEEE International Conference on Robotics and Automation, 2007, p. 2874-2879 How to Cite? |
Abstract | In this paper, we propose a concept on realizing impedance-based motion control of passive type robots for transporting a single object in coordination with a human operator. In this research, we developed a prototype of passive type robot referred to as Passive Robot Porter or PRP, which consists of three omni-directional wheels with MR Brakes, and on-board computer system. We analyze the singularity of PRP braking torques, and control the brake torque of each wheel based on the brake force/moment constraint so that impedance characteristics is realized on PRP with human's pushing. This allows a PRP to track a 2D path which includes motion perpendicular to human's pushing direction without using servo motors, and multi-PRPs to work cooperatively on handling a single object with orientation control for avoiding collision with obstacles. Experimental results are shown to illustrate the validity of the proposed concept. © 2007 IEEE. |
Persistent Identifier | http://hdl.handle.net/10722/303031 |
ISSN | 2023 SCImago Journal Rankings: 1.620 |
DC Field | Value | Language |
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dc.contributor.author | Wang, Zhi Dong | - |
dc.contributor.author | Fukaya, Kenta | - |
dc.contributor.author | Hirata, Yasuhisa | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.date.accessioned | 2021-09-07T08:43:04Z | - |
dc.date.available | 2021-09-07T08:43:04Z | - |
dc.date.issued | 2007 | - |
dc.identifier.citation | Proceedings - IEEE International Conference on Robotics and Automation, 2007, p. 2874-2879 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | http://hdl.handle.net/10722/303031 | - |
dc.description.abstract | In this paper, we propose a concept on realizing impedance-based motion control of passive type robots for transporting a single object in coordination with a human operator. In this research, we developed a prototype of passive type robot referred to as Passive Robot Porter or PRP, which consists of three omni-directional wheels with MR Brakes, and on-board computer system. We analyze the singularity of PRP braking torques, and control the brake torque of each wheel based on the brake force/moment constraint so that impedance characteristics is realized on PRP with human's pushing. This allows a PRP to track a 2D path which includes motion perpendicular to human's pushing direction without using servo motors, and multi-PRPs to work cooperatively on handling a single object with orientation control for avoiding collision with obstacles. Experimental results are shown to illustrate the validity of the proposed concept. © 2007 IEEE. | - |
dc.language | eng | - |
dc.relation.ispartof | Proceedings - IEEE International Conference on Robotics and Automation | - |
dc.title | Control passive mobile robots for object transportation braking torque analysis and motion control | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/ROBOT.2007.363907 | - |
dc.identifier.scopus | eid_2-s2.0-36348956672 | - |
dc.identifier.spage | 2874 | - |
dc.identifier.epage | 2879 | - |