Abstract
AbstractThis paper describes a novel trajectory control system for human cooperation robots based on behavior mode switching. Human cooperation robots have the great possibility to serve as useful support systems for elderly people and physically handicapped people and are expected to realize smooth and human‐friendly support movements. This study defines three behavior modes in human cooperation motion, and their respective trajectory control systems are designed. In the trajectory design, a minimum jerk model is introduced to realize the smooth and human‐friendly cooperation movements. In addition, the initial value compensation at the mode switching is developed. Some experiments using a two‐axis plane robot and performance evaluation by trial subjects show the effectiveness of the proposed trajectory control system. © 2007 Wiley Periodicals, Inc. Electr Eng Jpn, 162(3): 58–67, 2008; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/eej.20651
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