MECHANISM AND CONTROL OF MAN-ROBOT COOPERATIVE-WORK-TYPE MANIPULATOR

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.