Manipulator/vehicle system for man-robot cooperation

Abstract

The authors propose a center of gravity control method for a manipulator/vehicle system to ensure that the system cannot fall down. The algorithm controls the tip position of the end effector and the combined center of gravity of the manipulator and the payload. This control algorithm has been applied to a system in which a human cooperates with a robot. The trajectory of the manipulator is given by the operator and the center of gravity is pre-set so that it does not tumble. An experiment was carried out to confirm the effectiveness of this control algorithm for the manipulator/vehicle system.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>