Designing of Delta Manipulator as Human-Robot Interaction for Collaborative Mobile Robot

摘要

This research aims to develop an adaptable and advanced human-robot interaction system for collaborative mobile robots. A delta manipulator with a series elastic actuator is designed as a collaborative medium between humans and mobile robots. The design of the delta manipulator as a human-robot interaction interface and its kinematics are presented. Three control strategies for translational motion and two control strategies for rotational motion are studied and discussed based on their advantages and disadvantages, depending on specific application requirements. This design approach enables the creation of a comprehensive controller system that can effectively command the mobile robot to perform a wide range of movements and maneuvers, enhancing its overall performance and versatility. The resulting system efficiently accomplishes complex tasks in various scenarios, making it a valuable tool for a range of applications.