Manipulator for man-robot cooperation

The authors propose a control algorithm for a manipulator which executes tasks in cooperation with a human operator. The manipulation system has been designed for assisting the operator to handle heavy objects. The system has two force sensors at the end of the arm; one is used to maneuver the manipulator, and the other is used to control the interface force between the manipulator and its working environment. The proposed control system consists of two controllers; one generates the desired motion of the manipulator based on the force applied to the operational sensor by the operator, and the other controls the interaction between the manipulator and its working environment. The proposed control algorithm specifies both force augmentation and maneuverability of the manipulator. The stability of the system is discussed. The experimental system described illustrates the concept.<<ETX>>