Japan As Represented by Secretary of Agency of Industrial Science and Technology

Tomohito Takubo

Kazuo Tanie

Hirohiko Arai

Yasuo Hayashibara

Yukinobu Sonoda

A method for control of a cooperative object-transporting robot, in which a man and a robot transport a long object or a large-sized object while grasping each of the ends of the object. An angle of a hand-tip of the robot is detected by angle sensors, and based on the sensor signals, a motion instruction for a translational motion of the hand-tip in the vertical direction is output so as to keep the posture of the object horizontal.

Method and system for controlling cooperative object-transporting robot

A control of a cooperative object-transporting robot which transports an object in cooperation with a man. The robot shares substantially a half of the weight of the object with the man, while the object is kept in a horizontal posture. A force applied to the robot by the object is detected by a force sensor, and based on the signal from the force sensor, a motion instruction is output for the motion components by the rotational force component &tgr; around the horizontal axis and the translational force component Fx in the horizontal back-and-forth direction, upon setting a gain to reduce the resistance forces of the robot to small values. The translational force component F in the direction of the object short axis is constrained so that no translational motion in the direction of the object short axis occurs.

Growing community of inventors

Tennodai Tsukuba, Japan

Tomohito Takubo