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JACIII Vol.23 No.6 pp. 990-996
doi: 10.20965/jaciii.2019.p0990
(2019)

Paper:

Analysis of Velocity Pattern of a Power-Assisted Mobile Robot

Yuki Ueno

Tokyo University of Technology
1404-1 Katakuramachi, Hachioji, Tokyo 192-0982, Japan

Received:
March 3, 2019
Accepted:
May 20, 2019
Published:
November 20, 2019
Keywords:
power-assist system, mobile robot, minimum jerk trajectory
Abstract
Analysis of Velocity Pattern of a Power-Assisted Mobile Robot

The velocity pattern when the operator performs natural operation of the robot through the power-assist system can be approximated by a velocity pattern connecting two minimum jerk trajectories

This paper aims to analyze the velocity pattern of a power-assisted mobile robot when the operator performs operation without any discomfort. Power-assist systems for mobile robots such as wheelchairs and conveyance carriers are extremely effective in alleviating the physical burden on operators when they carry heavy objects. Although the velocity control based power-assist system has an advantage that it can be easily realized, the problem lies in that the system becomes unstable when the operator has high stiffness. Variable impedance control based on impedance estimation of the operator is effective at solving this problem. To realize operator impedance estimation, it is necessary to know the intended robot’s motion of a person. In this study, as a preliminary step to estimate the operator’s impedance, the velocity pattern when the operator performs natural operation of the robot through the power-assist system is analyzed. The results confirm that the natural velocity pattern can be approximated by a velocity pattern connecting two minimum jerk trajectories.

Cite this article as:
Y. Ueno, “Analysis of Velocity Pattern of a Power-Assisted Mobile Robot,” J. Adv. Comput. Intell. Intell. Inform., Vol.23, No.6, pp. 990-996, 2019.
Data files:
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