CONTROL METHOD FOR COOPERATIVE OBJECT-CARRYING ROBOT AND DEVICE THEREFOR

摘要

A control method for a cooperative object-carrying robot for carrying an object in cooperation with a human, wherein a control is made to allow a human to intuitively recognize the behavior of the object with a usual daily feeling, with the object kept horizontal, half the weight of the object burdened, and a movable direction of the object restricted. A fingertip angle of the robot is detected by an angle sensor and a motion instruction for a translation motion perpendicular to the fingertips is output so as to keep the body horizontal. In addition, a force applied to the robot from the body is detected by a force sensor, and a torque component around the vertical axis and a translation-motion force component in a body’s major-axis direction, which are separated from the sensor signal, are output with a gain so set as to reduce a robot’s resisting force; while a translation-motion force component in a body’s minor-axis direction is restricted to prevent a translation motion in the body’s minor-axis direction.