Cooperative Control of Manipulator and Human Operator for Direct Teaching

Abstract

A cooperative control of a manipulator and a human operator has been proposed for an efficient direct teaching operation in this research. The main goal is making the operator be convenient and relaxed when he is operating the manipulator for a direct teaching. The proposed control strategy has two layers: In the first layer, human motion estimator (HME) has been designed to estimate a human intention. The recursive least square method has been utilized for the HME to simultaneously estimate the interaction force and the human arm admittance model. In the second layer, human motion reactor has been designed to keep the human motion intention precisely by a proportional derivative and gravity compensation in real time. Real experiments with a 3-degree of freedom robotic manipulator guided by the human operator have been conducted to draw a diamond shape on a panel. The experimental results demonstrate the effectiveness of the proposed cooperative control strategy.