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.

中文翻译：

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直接教学机械手与人机协同控制

本研究提出了一种机械手和人类操作员的协同控制，以实现高效的直接教学操作。主要目的是让操作者在操作机械手进行直接示教时，既方便又轻松。所提出的控制策略有两层：在第一层中，人体运动估计器（HME）被设计用于估计人类意图。递归最小二乘法已用于 HME 以同时估计相互作用力和人体手臂导纳模型。第二层设计了人体运动反应器，通过比例导数和实时重力补偿，精确地保持人体运动意图。已经进行了由人类操作员引导的 3 自由度机器人机械手的真实实验，以在面板上绘制菱形。实验结果证明了所提出的协同控制策略的有效性。