Abstract
Aging of skilled workers and lack of successors is becoming serious in recent years, and previous studies have tried to reproduce a human's skilled motion when a contact object moves around a work space by using a robot including a camera. However since the studies do not take account of a measuring delay of a camera, control bandwidth is not wide. This paper therefore proposes a delay compensator for a position/force hybrid control system which is utilized for the reproduction of human's skilled motions.
