An articulated assistive robot for intuitive hands-on-payload manipulation

Authors: Campeau-Lecours, AlexandreBelzile, Pierre-LucLaliberté, ThierryFoucault, SimonMayer-St-Onge, Boris; Gao, Dalong; Gosselin, Clément
Abstract: This paper presents an intelligent assistive robot designed to help operators in lifting and moving large payloads through direct physical contact (hands-on-payload mode). The mechanical design of the robot is first presented. Although its kinematics are similar to that of a cable-suspended system, the proposed mechanism is based on articulated linkages, thereby allowing the payload to be offset from the rail support on which it is suspended. A dynamic model of the robot is then developed. It is shown that a simplified dynamic model can be obtained using geometric assumptions. Based on the simplified dynamic model, a controller is then presented that handles the physical human-robot interaction and that provides the operator with an intuitive direct control of the payload. Experimental validation on a full-scale prototype is presented in order to demonstrate the effectiveness of the proposed robot and controller.
Document Type: Article de recherche
Issue Date: 19 April 2017
Open Access Date: 19 April 2019
Document version: AM
This document was published in: Robotics and computer-integrated manufacturing, Vol. 48 (C), 182–187 (2017
Alternative version: 10.1016/j.rcim.2017.04.003
Collection:Articles publiés dans des revues avec comité de lecture

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