In this paper, we investigate an assist control for a system in which a human and a robot cooperate to transport an object toward a designated position and angle. We consider a situation where the force due to the human to the object cannot be measured directly. In order to tackle this situation, an assist control with a nonlinear disturbance observer is proposed. By using the observer, we estimate the control input due to the human from position and angle of the object. Moreover, we design the control input by the robot to assist the human input based on the estimates by the disturbance observer. The effectiveness of the proposed method is discussed by numerical simulations for the minimum jerk model.

中文翻译：

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非线性扰动观测器对人机协作运输系统的辅助控制

在本文中，我们研究了一个系统的辅助控制，在这个系统中，人和机器人合作将物体运送到指定的位置和角度。我们考虑一种情况，即无法直接测量人对物体施加的力。为了解决这种情况，提出了一种带有非线性扰动观测器的辅助控制。通过使用观察者，我们从物体的位置和角度估计人类的控制输入。此外，我们设计了机器人的控制输入，以根据干扰观察器的估计来辅助人类输入。通过最小加加速度模型的数值模拟讨论了所提出方法的有效性。