대한전기학회논문지:시스템및제어부문D (The Transactions of the Korean Institute of Electrical Engineers D)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

파워 어시스트 시스템을 위한 이동 머니퓰레이터의 제어

Control of Mobile Manipulators for Power Assist Systems

  • 이형기 (삼성종합기술원 IP sector HCI Lab) ;
  • 성영휘 (금오공과대 전자공학부) ;
  • 정명진 (한국과학기술원 전기 및 전자공학과)
  • 발행 : 2000.02.01
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초록

In this paper, we present a control method of mobile power assist systems. Most of mobile power assist systems have a heavy base for preventing 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, which removes the unnecessary movements of the base. In our scheme, the mobile base does not move until the center of gravity(C.G) of the system goes outside a safety region. When C.G. reaches the boundary of the safety region, the base starts moving 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. Our scheme is implemented by assigning a nonlinear mass-damper-spring impedance to the tip of the manipulator. Our scheme is implemented by a nonlinear mass-spring impedance to the tip of the manipulator. The experimental results show the efficacy of the proposed control method.

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참고문헌

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