Robot arm control based on human multi-joint arm viscoelasiticity and operator theory

In aging society and decrease of birthrate, the number of workers is decresing and it is an urgent problem to be solved. One way to solve this problem is to use a robot. For this way, we are required to analyze the movement of human and identify the characteristics of the movement. And if we can apply the measured characteristic of the movement to the robot, we can realize human-like movement with robot. In this paper, a robot arm control system is discussed based on the human multi-joint arm viscoelasticity and robust right coprime factorization condition. Specifically, we apply the human multijoint arm viscoelasticity to a tracking controller of the robot arm and confirm that it follows the target trajectory. The effectiveness of the proposed design scheme is verified by simulations.