A new concept of a robot manipulator with passive mobile base is proposed which can be safely used in a human-robot cooperation environment. A joint-based control scheme is developed to control the end-effector positi...
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A new concept of a robot manipulator with passive mobile base is proposed which can be safely used in a human-robot cooperation environment. A joint-based control scheme is developed to control the end-effector position of the manipulator which is tolerant to unexpected contact force with the manipulator's environment. The mobility the of base of the manipulator is passively exploited to attenuate the dynamic disturbance of the contact force and the joint configurations are re-adjusted according to the evolution of the position of the base to maintain performance of the given task. Effectiveness of the proposed method is verified by computer simulation and experimental evaluation is currently underway.
The criteria to be used in the construction of an efficient computerized man machine interface were studied and experimented in order to optimize plant management. These criteria concern choosing symbols, colours and ...
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The criteria to be used in the construction of an efficient computerized man machine interface were studied and experimented in order to optimize plant management. These criteria concern choosing symbols, colours and browsing methods not only on the basis of consolidated ergonomic know-how, but also by experimentation and various tests with expert plant management staff. It was seen that this new type of interface allows the plant to be run in two ways: one with highly summarized plant information, and another with a more detailed analysis, should the operatorrequire, which allows greater awareness in plant management.< >
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