1A2-D14 人間-ロボット間の相対運動情報検出機能を有する力伝達調整機構の開発

抄録

The development of a load adjusting device with a motion measurement interface and a robot motion control scheme are addressed in this paper. Proposed system can provide a multi load state and a multi dynamics state in human-robot dynamical cooperation. The multi load state including its transition is effective and efficient in the human-robot cooperative task. Under the proposed control scheme, the load state can be adjusted and varied with the various dynamics in the active or passive state. To confirm the effectiveness of the proposed control system, a human-robot cooperative experiment is carried out. Experimental results show that the proposed control scheme can provide the multi load state in the human-robot interaction.