Towards safe human-robot interaction: Joint impedance control of a new teleoperated robot arm

Dzmitry Tsetserukou, Riichiro Tadakuma, Hiroyuki Kajimoto, Naoki Kawakami, Susumu Tachi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

9 Citations (Scopus)

Abstract

The paper focuses on design and joint impedance control of a new teleoperated robot arm enabling torque measurement in each joint by means of incorporation of devised optical torque sensors. When the contact of arm with an object occurs, joint impedance algorithm provides active compliance of corresponding robot arm joint. Thus, the whole structure of the manipulator can safely interact with unstructured environment. In the paper, we describe detailed design procedure of the 4-DOF robot arm and optical torque sensors. To extract force signal from measured data, the gravity compensation algorithm was elaborated and verified. The experimental results of joint impedance control show that proposed strategy provides safe interaction of entire structure of robot arm with human beings and ensures the collision avoidance.

Original languageEnglish
Title of host publication16th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN
Pages860-865
Number of pages6
DOIs
Publication statusPublished - 2007
Externally publishedYes
Event16th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN - Jeju, Korea, Republic of
Duration: 26 Aug 200729 Aug 2007

Publication series

NameProceedings - IEEE International Workshop on Robot and Human Interactive Communication

Conference

Conference16th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN
Country/TerritoryKorea, Republic of
CityJeju
Period26/08/0729/08/07

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