Development of mechanical regulator to adjust gradual transition of dynamical interaction between human operator and robot
| Project/Area Number |
24560312
|
|---|
| Research Category |
Grant-in-Aid for Scientific Research (C)
|
| Allocation Type | Multi-year Fund |
|---|
| Section | 一般 |
|---|
| Research Field |
Intelligent mechanics/Mechanical systems
|
|---|
| Research Institution | Doshisha University |
|---|
Principal Investigator |
TSUMUGIWA Toru 同志社大学, 生命医科学部, 准教授 (90362912)
|
|---|
| Project Period (FY) |
2012-04-01 – 2015-03-31
|
| Project Status |
Completed (Fiscal Year 2014)
|
| Budget Amount *help |
¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000)
Fiscal Year 2014: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2013: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2012: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
|
|---|
| Keywords | ロボット / 人間－機械協調系 / ロボットの運動制御 / マンマシンインターフェース / インピーダンス制御 / 人間とロボットの協調作業 |
|---|
| Outline of Final Research Achievements |
The purpose of this study is to develop a mechanical device to regulate gradually the magnitude of interference of the dynamic characteristic of a human operator and a robot under the human-robot cooperative task. The experimental results show that the proposed mechanical device enables a gradual transition of interference of the dynamical interaction between the human operator and the robot. To investigate the effectiveness of the proposed control strategy, a quantitative analysis method for evaluating the human-robot cooperative task is developed. The results of this study are published in the internal/international conferences and journals of the mechanical engineering and the robotics.
|
Report
(4 results)
Research Products
(15 results)
