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This paper studies a control method for the manipulator of an automatic cryogenic storing vessel which can improve a ratio of survival of a cord blood. The cord blood keeps in liquid nitrogen in the cryogenic vessel. The integrated robot control system for storing a cord blood based on mechanism of SCARA robot is developed. The system consists of a cryogenic vessel, a robot arm controller using a...
In this study, we proposed the collision observer for real-time detection of collisions between service robot and unknown obstacle. In case of a mobile equipped extra manipulator such as a service robot the safety of the system in service field is very important because a collision between the manipulator and a person may damages against the one. Therefore it is required to detect the collision against...
In the framework of physical human-robot interaction (pHRI), methodologies and experimental tests are presented for the problem of detecting and reacting to collisions between a robot manipulator and a human being. Using a lightweight robot that was especially designed for interactive and cooperative tasks, we show how reactive control strategies can significantly contribute to ensuring safety to...
This paper presents a real-time approach to generate the path of robot manipulator. In this approach, octree model is used to express environment and detect collision. The arms of robot in space are expressed by a set of points on the surface of them. Then the distance between manipulator and obstacle is estimated by the potential generated by octree modeling. Based on the distance estimated, graph...
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