面状圧力センサを配置した人間協調ロボットの圧力情報に基づく制御による人体への安全性確保

抄録

In this paper, impedance control methods based on pressure distribution have been proposed to improve the safety of Human Cooperative Robot. Considering that Human Cooperative Robots can hardly realize physical separation with cooperators or workplace, it is largely expected on how to avoid collision between Robots and Human and ensure safety. Therefore, disturbance pressure distribution can be obtained as forces created by collision on the basis of the pressure distribution sensors located on robots’ surface, so that impedance control methods are proposed to actively eliminate the disturbance pressure distribution. And the theoretical feasibility of the methods is finally ensured in simple ways.