Development of admittance control considering operability in direct manipulation of cooperative robots

Abstract

This paper is concerned with an advanced admittance control to perform efficiently cooperative works between a human and a robot. An assembly work of heavey parts is one of hard physical works. Therefore, it is required to utilize a collaborative robot for assisting the worker. However, it is difficult to manipulate directly the robot at will. In this study, we propose the admittance control installing the virtual model with the bounded viscous resistance for improving the operability of the direct manipulation to transport the heavy object by the cooperative work of human and robot. Improving the operability by the proposed approach can be analyzed by the frequency analysis. And, the efficacy of the proposed approach is verified by the experiments with the collaborative robot.