Y. Fujisawa et al., MECHANISM AND CONTROL OF MAN-ROBOT COOPERATIVE-WORK-TYPE MANIPULATOR, JSME international journal. Series C, dynamics, control, robotics, design and manufacturing, 36(4), 1993, pp. 478-489
This paper deals with the mechanism and control method for a man-robot
cooperative-work-type manipulator, aiming at application in fields in
volving 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-w
ork-type manipulator to be controlled easily by the direct teaching me
thod. The man-robot cooperative-work type manipulator has the followin
g features. (1). It has an operational sensor to preform tasks in coop
eration with a human operator. (2) It also has an environmental sensor
to control contact force between the robot and the environment. (3) T
he end-effector of this robot has a vacuum system to carry heavy paylo
ads. (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 r
obotic system makes it possible to perform man-robot cooperative work.