Method for mobile robot motion control

• US 6,453,212 B1
• Filed: 09/07/2000
• Issued: 09/17/2002
• Est. Priority Date: 03/08/2000
• Status: Expired due to Fees

• Current Assignee: Riken
• Original Assignee: Riken
• Inventors: Kawabata, Kuniaki, Kaetsu, Hayoto, Hirata, Yasuhisa, Kosuge, Kazuhiro, Asama, Hajime
• Primary Examiner(s): Cuchlinski, William A.
• Assistant Examiner(s): MARC, MCDIEUNEL
• Application Number:
  US09/657,084
• Time in Patent Office: 740 Days
• Field of Search: 700/245, 701/23, 701/25, 701/28, 701/205, 701/217, 701/300, 701/301, 318/587, 382/153, 901/1
• US Class Current: 700/245
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/162 Mobile manipulator, movable base with manipulator arm mounted on it
• CPC Class Codes: G05B 2219/36429 Power assisted positioning

Abstract

In a method for mobile robot motion control for the sake of controlling motional characteristics of the mobile robot, such motional characteristics of mobile robot are made to be virtually equivalent motional characteristics of a caster, whereby motional performance adaptable to an external force is realized. Thus, a method for mobile robot motion control by which an object can be cooperatively manipulated by human being and mobile robot is provided.

Claims

1. A method for mobile robot motion control for the sake of controlling motional characteristics of the mobile robot, comprising:

the motional characteristics of the mobile robot being made to be virtually equivalent to motional characteristics of a caster, whereby motional performance adaptable to an external force is realized.

7. A computer-readable storage media comprising:

a program for executing a method for mobile robot motion control as claimed in any one of claims 1, 2, 3, 4, 5, and 6 by a computer being recorded therein.

2. A method for mobile robot motion control for the sake of controlling motional characteristics of the mobile robot, comprising:

characteristic parameters of a caster being dynamically changed in control for mobile robot to which have been virtually applied equivalent motional characteristics of the caster, whereby motional characteristics of the mobile robot are appropriately changed.

3. A method for mobile robot motion control for the sake of controlling motional characteristics of the mobile robot, comprising:

a control parameter r_i, being made to be small in the case where a speed of a mobile robot in a travel orientation is low, while the control parameter r_i being made to be large in the case where the speed of the mobile robot in the travel orientation is high; and

the control parameter r_i being an offset defined between a moving center of the mobile robot and a holding point at which the robot holds an object.

4. A method for mobile robot motion control for the sake of controlling motional characteristics of the mobile robot, comprising:

a control parameter ^tranD_i being made to be large in the case where a speed of a mobile robot in its travel orientation is low, while the control parameter ^tranD_i being made to be small in the case where the speed of the mobile robot in the travel orientation is high; and

the control parameter ^tranD_i corresponding to the origin of a robot coordinate system ^xΣ

_i fixed to a holding point of the mobile robot, at the same time, it being allowed to coincide a ^cx_i-axis of a caster coordinate system ^cΣ

_i rotatable freely around the origin with its travel orientation of the mobile robot, and it corresponding to a positive damping coefficient in the case where the mobile robot is subjected to damping control based on a force ^cf_xi acting in the ^cx_i-axial direction.

5. A method for mobile robot motion control for the sake of controlling motional characteristics of the mobile robot, comprising:

a control parameter ^rotD_i being made to be small in the case where a speed of a mobile robot in a travel orientation is low, while the control parameter ^rotD_i being made to be large in the case where the speed of the mobile robot in the travel orientation is high; and

the control parameter ^rotD_i being a positive damping coefficient in the case where the mobile robot is subjected to damping control by a moment acting upon the mobile robot.

6. A method for mobile robot motion control for the sake of controlling motional characteristics of the mobile robot, comprising:

a control parameter r_i being made to be small, a control parameter ^transD_i being made to be large, and a control parameter ^rotD_i being made to be small in the case where a speed of a mobile robot in a travel orientation is low, while the control parameter r_i being made to be large, a control parameter ^transD_i being made to be small, and a control parameter ^rotD_i being made to be large in the case where the speed of the mobile robot in the travel orientation is high;

the control parameter r_i being an offset defined between a moving center of the mobile robot and a holding point at which the robot holds an object;

the control parameter ^transD_i corresponding to the origin of a robot coordinate system ^rΣ

_i fixed to a holding point of the mobile robot, at the same time, it being allowed to coincide a ^cx_i-axis of a caster coordinate system ^cΣ

_i rotatable freely around the origin with the travel orientation of the mobile robot, and it corresponding to a positive damping coefficient in the case where the mobile robot is subjected to damping control based on a force ^cf_xi acting in the ^cx_i-axial direction; and

the control parameter ^rotD_i being a positive damping coefficient in the case where the mobile robot is subjected to damping control by a moment acting upon the mobile robot.

8. A method for mobile robot motion control for the sake of controlling motional characteristics of the mobile robot, comprising:

making offset between a moving center of the mobile robot freely adjustable by software and a holding point at which the robot holds an object, whereby the motional characteristics of the mobile robot being made to be virtually equivalent to motional characteristics of a caster.