Control Architecture for tactile co-operation between Human and a humanoid robot

摘要

Conventionally, human robot co-operation in a closed kinematic chain on the physical level implies a touching of then robot hand or of an object gripped by the robot. Instead, some applications require a manual guiding of a robotic arm by touching its links with restricted degrees of freedom like the upper arm, the lower arm, the elbow or the shoulder. In theses cases it usually is not possible to yield the applied forces properly, as this leads to unintended reactions of subsequent links and joints within the kinematic chain. In this paper we introduce co-operative robotic control modes requiring a different form of manual guiding and their realisation