In this paper, we describe a control method for the man-robot cooperation work type of manipulator, which is maneuvered directly by applying the intentional force to the operation control sensor (force/torque sensor) by an operator. In this control system, we designed the motion of the manipulator considering the intentional force and the interaction between the manipulator and the environment. In order to realize this motion of the manipulator, we used two impedance controllers. One is the human impedance controller, which describes the relation between the intentional force and the displacement of the manipulator. The other is the environmental impedance controller, which describes the relation between the contact force and the displacement of the manipulator. By using these impedance controllers, this manipulator can be maneuvered directly by an operator and we can control the interaction between the manipulator and the environment. We can also use thhese impedance controllers for the improvement of work efficiency.
