Journal
CIRP ANNALS-MANUFACTURING TECHNOLOGY
Volume 57, Issue 1, Pages 41-44Publisher
ELSEVIER
DOI: 10.1016/j.cirp.2008.03.005
Keywords
co-operative assembly; robot; man-machine system
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Flexibility and changeability of assembly processes require a close interlinkage between the worker and the automated assembly system. The interaction between human and robot improves complex assembly processes, particularly when a robot can be guided by a worker and the robot provides power assistance to the worker. The close physical contact and the direct coupling of forces of human and robot necessitate a stable and robust interaction control. This paper describes a framework developed for a robustly stable control design for interactive robots serving as intelligent assist systems for flexible and highly adaptable assembly. (c) 2008 CIRP.
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