Method and system for controlling cooperative object-transporting robot

A system for control a cooperative object-transporting robot, in which a man and a robot transport a long object or a large-sized object in a horizontal plane while grasping each of the ends of the object, said system comprising:

• a force sensor for detecting a force applied to the robot by the object;
• a coordinate converting part for separating, from the sensor signal, the rotational force component around the vertical axis, the translating force component in the direction of the object long axis obtained by connecting the point grasped by the man and the point grasped by the robot, and the translating force component in direction of the object short axis orthogonal thereto;
• a force-motion converting part which, based on said rotational force component around the vertical axis and said translational force component in the direction of the object long axis, outputs these motion components, using a gain such as to reduce the resistance forces of the robot in these rotational direction and translation direction;
• and
• a coordinate converting part for synthesizing these motion components and said translational force component in the direction of the object short axis which is set to be zero, and outputting a motion instruction to drive the robot arm.