대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1998년도 하계학술대회 논문집 G
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- Pages.2305-2308
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- 1998
인간의 안전을 고려한 인간과 로봇의 헙조 작업을 위한 제어기 설계
Design of a control algorithm for human-robot cooperation with consideration of hum
- Mun, Tai-Kuin (School of Electrical Eng., Korea Univ) ;
-
Oh, Sang-Rok
(Div. of Elec. & Info. Tech., Korea Institute of Scienc)
;
- Park, Gwi-Tae (School of Electrical Eng., Korea Univ)
- 발행 : 1998.07.20
초록
In this paper, a control algorithm which enables robot to cooperate with human is proposed. The method senses the humanbeing's intention by using force/torque sensor attached at the end effector and moves and cooperates as intended by humanbeing. The method also considers safety of the humanbeing by adjusting and limiting the robot speed automatically. The proposed method is verified its performance by computer simulation and experiments for the 2-DOF DD(Direct Drive) Arm in real-time
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