Abstract
Robots have been developed to assist in the manufacturing of goods.However, as regards humans, safety must be always maintained during use. This study describes a control method to promote the practical application of pneumatic robots. Generally, pneumatic robots can easily carry out force control, but satisfactory position control performance can not easily be obtained. Especially, the autonomous control of robot is not capable of coping with the rapid changes in the task required. In this study, we have proposed a master-slave type hybrid position and force control, which is effective in overcoming this deficiency. This control method consists of both autonomous control of robots as well as human control. The position control is left to the master control carried out by operators and the force control is achieved using autonomous control.To examine the practical use of the proposed control approach, the contacting tasks are executed with a vertical standing object wall. As a result, we were able to confirm that master-slave type control can easily overcome the inherent problems existing in pneumatic robots.
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