抄録
This paper presents a development of a mechanical device to adjust the dynamic characteristic between a human operator and a robot under their cooperative task. The proposed device has a mechanism which can provide an adequate dynamical interaction between the robot and the human operator to stabilize the robot control system in a constraint state. To develop the control strategy of the mechanical device, the relationship between a controlled variable and brake force is revealed in the brake force calibration experiment. To confirm the effectiveness of the proposed mechanism, a human-robot cooperative experiment is carried out. Experimental results show that the proposed control scheme is effective for stabilizing the human-robot cooperative task system.
