TY - GEN
T1 - Contact detection and reaction of a wheelchair mounted robotic arm equiped with mechanical gravity canceller
AU - Wang, Wei
AU - Suga, Yuki
AU - Sugano, Shigeki
PY - 2010/12/1
Y1 - 2010/12/1
N2 - Safety issue has become the primary concern in wheelchair mounted robotic arm applications. We introduced mechanical gravity canceller in the design to realize a light weight manipulator, which also yield the greatly simplify of manipulator dynamics. Based on the simplified dynamics, sensor based contact detection can be easily implemented to enable safety. Contact reaction schemes are also applied through a impedance control law to achieve desired backdrivability. Experiments are conducted to illustrate the proposed method.
AB - Safety issue has become the primary concern in wheelchair mounted robotic arm applications. We introduced mechanical gravity canceller in the design to realize a light weight manipulator, which also yield the greatly simplify of manipulator dynamics. Based on the simplified dynamics, sensor based contact detection can be easily implemented to enable safety. Contact reaction schemes are also applied through a impedance control law to achieve desired backdrivability. Experiments are conducted to illustrate the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=78651517006&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78651517006&partnerID=8YFLogxK
U2 - 10.1109/IROS.2010.5650885
DO - 10.1109/IROS.2010.5650885
M3 - Conference contribution
AN - SCOPUS:78651517006
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 4378
EP - 4383
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -