抄録
The study proposes a skill-assist robot arm that can support the precise positioning of operation by human. The skill-assist robot arm, which is an underactuated manipulator, has actuated and non-actuated joints. The non-actuated joint is driven with the output point of the arm being operated by human, so that its displacement is determined passively. Then, the actuated joint is controlled to achieve the precise positioning of the output point. Thus, using the skill assist robot arm, the displacement behavior is adjusted by the operator; the position is compensated by the arm. Generally, human is no good with positioning, a robot is in contrast no good with the adjustment of the velocity, force and so on. The proposed arm can perform both precise positioning and adaptable adjustment of the motion to achieve high level work by the cooperative operation of a robot and human. The study proposes the mechanism of the skill assist arm and its control method. Furthermore, by actual drawing basic figures and a hiragana with the fabricated skill-assist arm, its availability is confirmed.
