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

Yukinobu Sonoda

Kazuo Tanie

Hirohiko Arai

Yasuo Hayashibara

Tomohito Takubo

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.

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Kawasaki, Japan

Yukinobu Sonoda