IEEJ Transactions on Industry Applications
Online ISSN : 1348-8163
Print ISSN : 0913-6339
ISSN-L : 0913-6339
Paper
Novel Trajectory Control for Human Cooperation Robot Based on Behavior Mode Switching
Hirokazu SekiKazuki TakahashiSusumu Tadakuma
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2006 Volume 126 Issue 12 Pages 1682-1689

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Abstract

This paper describes a novel trajectory control system for human cooperation robots based on behavior mode switching. Human cooperation robots have the great possibility to serve as useful support systems for elderly people and physically handicapped people and it is expected to realize the smooth and human-friendly support movements. This study defines three behavior modes in human cooperation motion and their respective trajectory control system are designed. In the trajectory design, minimum jerk model is introduced to realize the smooth and human-friendly cooperation movements. In addition, the initial value compensation at the mode switching is also developed. Some experiments on two-axis plane robot and performance evaluation by trial subjects show the effectiveness of the proposed trajectory control system.

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© 2006 by the Institute of Electrical Engineers of Japan
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