Development of Admittance Control Considering Operability in Human-Robot Cooperative Motion

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