Human-robots collaboration system for flexible object handling

A new concept of the human-robots collaboration is introduced in this system; the task is shared among the human and the robots. The robots appropriately deform and support the object, so that the human can easily handle it by only applying his/her intentional force to the object. First, the controller of multiple robots is designed so as to decrease the effect of noises from force sensors. Then deformation control of the flexible object is designed using the internal force applied to the object. The control system is experimentally implemented in a dual manipulator system which consists of two industrial robots. The experimental results illustrate the concept of the system.