| 摘要 |
PROBLEM TO BE SOLVED: To provide a cooperative work robot having an operator (a person) as a subject of an operation and efficiently carrying and exactly positioning an object difficult to be carried and positioned by only a person along an intention of the one operator by a cooperative work with the operator. SOLUTION: This cooperative work robot carries and positions the object 1 difficult to be carried and positioned by one person along the intention of the person by the cooperative work with the person. The cooperative work robot is provided with: a three-dimensionally movable robot hand 10 holding one end part of the object 1 via a free joint 12; a torque sensor 17 for detecting torsion torque acted by the person holding the other end part of the object 1; a thrust sensor 15 for detecting thrust force acing on the robot hand 10 from the other end part; an angle sensor 14 for detecting a displacement angle in relation to the robot hand 10 of the object 1; and a control device 20 for detecting the intention of the person from the torsion torque, the thrust force, and the displacement angle so as to control a three-dimensional position of the robot hand 10. COPYRIGHT: (C)2008,JPO&INPIT
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