Abstract
This paper presents a new control methodology for the mobile robot wherein the autonomous and man-machine-cooperative controls are combined. In the proposed control scheme, the 'autonomous control' and the 'man-machine-cooperative control' are designed by the time-state control and impedance control, respectively. The former tries to reduce the deviation from the guideline of the robot, the later, on the other hand, generates the power to assist the operator's skill. Furthermore, the composing method of the two different controls are discused. Finally, some experimental results are shown to demonstraight the usefulness of the proposed strategy.
