Abstract
This paper presents development of a mechanical interface with a load adjusting device. The proposed mechanical interface realizes a robot motion control scheme that stabilizes the motion of a robot. The proposed interface is composed of following three components: (1) a motion-detecting system that detects relative positional deflection data between the human motion and the robot motion; (2) a mechanical load adjusting device that adjusts an operational load of a robot motion; (3) a mechanical gravity canceller that reduces a gravity force when an operator manipulates the interface. To confirm the effectiveness of the proposed mechanical interface, a human-robot cooperative peg-in-hole experiment is carried out. Experimental results show that the proposed interface and the proposed robot motion control scheme realize a stable robot motion that achieves a human-robot cooperative task.
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