Robot motion control with a controlled supporting point for operator aid

In this research, robot motion control with a controlled supporting point for operator aid is proposed. This method is to make a supporting point by the motion control of 6-degree-of-freedom manipulator without setting a mechanical supporting point. Position control and compliance control of the attitude are performed at the point. The new technique is proposed to realize thrust motion. This technique is to change a length of the last link of manipulator aggressively. It is applied to force control and bilateral control. These theories are applied to the 6-degree-of-freedom industrial manipulator. The numerical and experimental results show viability of the proposed method.