Motion Generation for Human-Robot Cooperation considering Range of Joint Movement

We have proposed a real-time self-collision avoidance motion generation method for the manipulator of the robot used for human-robot cooperation. In this method, we represent the robots\´ body by using elastic elements referred to as "RoBE (representation of body by elastic elements)". The self-collision avoidance could be realized based on a virtual reaction force generated by the contacts between the elastic elements before the actual self-collision of the robot. In this paper, we expand this method to control not only robots\´ manipulator, but also its mobile base. Furthermore, we focus on the range of the joint movement of the robot, and propose the self-collision avoidance motion generation method considering it. Because of these, the self-collision motions which could deal with task/environmental constraints could be generated on the robot cooperating with a human. The proposed method is implemented in the planar 4-DOF mobile manipulator, and computer simulations are done for illustrating the validity of it