PSD based virtual nonholonomic constraint for human interaction of redundant manipulator

Satoshi Shibata, Toshiyuki Murakami

Research output: Contribution to conferencePaperpeer-review

2 Citations (Scopus)


Most of people can drive a car, ride a bicycle or handle shopping cart, which geometrically involve nonholonomic constraint Nonholonomic system offers people an intuitive system to handle simply. As an application of this human's ability, we set virtual nonholonomic constraint at the end-effector of robot manipulator. The operator grasps its end-effector and handles it as if he is using a shopping cart This work assumes the people, especially old generation and children, to use robots without any specific skills or knowledge on the robot system. And then, the robot system should be simple to expect how it will move next. In this paper, we propose a human interaction system of redundant manipulator and people using virtual nonholonomic constraint Virtual nonholonomic constraint will be realized with constraint Jacobian and Position Sensitive Detector(PSD). By reaction torque estimation observer, the system provides a power assist, which will help people with carrying some heavy stuffs. The potentiality and effectiveness of this system are confirmed by computational simulation.

Original languageEnglish
Number of pages5
Publication statusPublished - 2004 Dec 1
Event2004 IEEE International Conference on Control Applications - Taipei, Taiwan, Province of China
Duration: 2004 Sept 22004 Sept 4


Other2004 IEEE International Conference on Control Applications
Country/TerritoryTaiwan, Province of China

ASJC Scopus subject areas

  • Engineering(all)


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