Control scheme for human-robot co-manipulation of uncertain, time-varying loads

S. Lichiardopol; N. Wouw, van de; H. Nijmeijer

doi:10.1109/ACC.2009.5160062

Control scheme for human-robot co-manipulation of uncertain, time-varying loads

S. Lichiardopol
, N. Wouw, van de
, H. Nijmeijer

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

18 Citations (Scopus)

Abstract

The collaboration between a human operator and a robotic manipulator for performing a joint task is the main topic of this article. One of the most common tasks involves transporting and positioning a load. The proposed control strategy allows the comanipulation of loads with unknown, time-varying mass. The control algorithm is of a cyclic nature, where each cycle is subdivided into two stages. The first phase is the estimation of the human force, since the only connection between the robot and the human is via the load. In the second phase, a scaled version of the estimated human force is applied to the load. The proposed approach is illustrated by means of simulation results for a two-link robot manipulator.

Original language	English
Title of host publication	Proceedings of the 28th American Control Conference, (ACC '09) 10 - 12 June 2009, St. Louis, MO, USA
Place of Publication	Piscataway, NJ
Publisher	Institute of Electrical and Electronics Engineers
Pages	1485-1490
ISBN (Print)	978-1-4244-4523-3
DOIs	https://doi.org/10.1109/ACC.2009.5160062
Publication status	Published - 2009

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10.1109/ACC.2009.5160062

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title = "Control scheme for human-robot co-manipulation of uncertain, time-varying loads",

abstract = "The collaboration between a human operator and a robotic manipulator for performing a joint task is the main topic of this article. One of the most common tasks involves transporting and positioning a load. The proposed control strategy allows the comanipulation of loads with unknown, time-varying mass. The control algorithm is of a cyclic nature, where each cycle is subdivided into two stages. The first phase is the estimation of the human force, since the only connection between the robot and the human is via the load. In the second phase, a scaled version of the estimated human force is applied to the load. The proposed approach is illustrated by means of simulation results for a two-link robot manipulator.",

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doi = "10.1109/ACC.2009.5160062",

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Control scheme for human-robot co-manipulation of uncertain, time-varying loads. / Lichiardopol, S.; Wouw, van de, N.; Nijmeijer, H.
Proceedings of the 28th American Control Conference, (ACC '09) 10 - 12 June 2009, St. Louis, MO, USA. Piscataway, NJ: Institute of Electrical and Electronics Engineers, 2009. p. 1485-1490.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Nijmeijer, H.

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AB - The collaboration between a human operator and a robotic manipulator for performing a joint task is the main topic of this article. One of the most common tasks involves transporting and positioning a load. The proposed control strategy allows the comanipulation of loads with unknown, time-varying mass. The control algorithm is of a cyclic nature, where each cycle is subdivided into two stages. The first phase is the estimation of the human force, since the only connection between the robot and the human is via the load. In the second phase, a scaled version of the estimated human force is applied to the load. The proposed approach is illustrated by means of simulation results for a two-link robot manipulator.

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DO - 10.1109/ACC.2009.5160062

M3 - Conference contribution

SN - 978-1-4244-4523-3

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BT - Proceedings of the 28th American Control Conference, (ACC '09) 10 - 12 June 2009, St. Louis, MO, USA

PB - Institute of Electrical and Electronics Engineers

CY - Piscataway, NJ

ER -

Control scheme for human-robot co-manipulation of uncertain, time-varying loads

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