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Human interface and vibration control of robotic manipulator suspended from ceiling

Department of System Design Engineering, Kanagawa Institute of Technology, Japan, ytaka{at}sd.kanagawa-it.ac.jp

Makoto Yashige

Department of System Design Engineering, Kanagawa Institute of Technology, Japan

Masanori Nakamura

Department of System Design Engineering, Kanagawa Institute of Technology, Japan

Eiichi Hirata

Department of System Design Engineering, Kanagawa Institute of Technology, Japan

A robotic manipulator, suspended from a ceiling of a general house, with an easily operated human interface and vibration-reduction control of a suspended hand, is proposed in this paper. A bedridden user can easily manipulate his/her belongings by using the robotic manipulator. The human interface is a laser pointer. When a bedridden user wishes to pick up a target object, the user exposes the target object to the laser beam spot by manipulating a joystick lever. Then, the user pushes a switch on the joystick lever. After this simple operation, the robotic hand moves automatically to the target object following a laser beam trajectory, and the user can capture the object. The robotic manipulator used in our research does not require ‘oor installation on a ‘oor because it is installed on the ceiling of a house. Two linear motion actuators are fixed on the ceiling, and the carriage is moved horizontally. The robotic hand is suspended from the carriage. An active vibration-reduction control system is designed to decrease the suspended hand vibrations. The swings of the suspended hand are detected by a hand-swing detection system using a laser position sensor. The validity of the proposed robotic manipulator has been confirmed by the experimental and simulation results.

Key Words: human interface • laser pointer • robotic manipulator • trajectory following • vibration control

Transactions of the Institute of Measurement and Control, Vol. 24, No. 5, 387-401 (2002)
DOI: 10.1191/0142331202tm069oa


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