Mechanism and Control of Man-Robot Cooperative-Work-Type Manipulator

摘要

This paper deals with the mechanism and control method for a man-robot cooperative-work-type manipulator, aiming at application in fields involving structurally changeable tasks, such as the construction field and civil engineering field. Because of the imminent labor shortage in our aging society, robots will be increasingly used in these fields. To support robot operation, this study aims to develop a cooperative-work-type manipulator to be controlled easily by the direct teaching method. The man-robot cooperative-work type manipulator has the following features. ( 1 ) It has an operational sensor to preform tasks in cooperation with a human operator. ( 2 ) It also has an environmental sensor to control contact force between the robot and the environment. ( 3 ) The end-effector of this robot has a vacuum system to carry heavy payloads. ( 4 ) To facilitate position control operations when assembly tasks are performed, the first arm of the manipulator is made flexible, and it has a bending vibration control system. With these features, the robotic system makes it possible to perform man-robot cooperative work.