Manipulator for Man-Robot Cooperation

摘要

This paper deals with a control method for a man-robot cooperative hydraulic manipulator, and evaluation of its task performance. The man-robot cooperative system is aimed at cooperation between a human operator and a robotic system. The control system for the man-robot cooperation manipulator is designed for the human operator to teach the motion of the manipulator directly. The control system is also designed to carry up a heavy payload and we can specify both operational force (human force) amplification ratio and maneuverability of the manipulator. We apply the concept of the man-robot cooperative work to a hydraulic manipulator. In the experiment, we show the effectiveness of applying a hydraulic cooperative manipulator for handling a heavy object.