抄録
We developed a mobile power assist equipment as a human-coexistence robot. We discussed how to develop the power-assist arm and moving mechanism for power-assist equipment. Additionally, we discussed how to reduce the controlling torque of the power-assist arm mechanism through mini-max optimization and manufactured a mock-up of the power-assist equipment. In this paper, we report on how to control the mobile power-assist robot in considerable situation like as the control target, the circumstance, disturbances and restrictions of the control law.
