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- W2313289432 endingPage "4745" @default.
- W2313289432 startingPage "4734" @default.
- W2313289432 abstract "A cooperative transporting control method is proposed for two 7-DOF manipulators and one human in this paper. This control method is based on an impedance control law. An object is transported in any direction according to the force added by the human. The force is measured with a 6-DOF force sensor installed at the wrist of the manipulator. When the manipulators cooperate with the human to transport the object, the manipulators should not only support the human but also avoid some obstacles around them. The manipulators avoid the obstacles by utilizing the kinematic redundancy of the manipulator. The virtual force generated by virtual impedance is used in avoiding action. The virtual impedance is set between the manipulators and the obstacles. The effectiveness of the proposed methods is verified through simulations." @default.
- W2313289432 created "2016-06-24" @default.
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- W2313289432 date "2013-01-01" @default.
- W2313289432 modified "2023-09-26" @default.
- W2313289432 title "Cooperative Transporting Control for Two Redundant Manipulators and One Human (A Method of Obstacle Avoidance Utilizing Kinematic Redundancy)" @default.
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- W2313289432 doi "https://doi.org/10.1299/kikaic.79.4734" @default.
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