2A1-E03 Assist Control for Human-Machine-Cooperative System to Increase Both Maneuverability and Operating Feel : Assist Control for Flexible Parts Conveyance Using Master Slave Manipulators

Abstract

This study discusses an assist control method for human-machine-cooperative system. The assist control method should be designed so as to increase both maneuverability and opeating feel. This paper presents an assist control method for flexible parts conveyance using master slave manipulators. The maneuverability and the operating feel are evaluated quantitatively on the basis of task achievement time and maximum differential value of operational force respectively. Its effectiveness was verified experimentally by six beginner trials.