Compliant Human–Robot Collaboration with Accurate Path-Tracking Ability for a Robot Manipulator

In this article, we aim to achieve manual guidance of a robot manipulator perform tasks that require strict path following and would benefit from collaboration with human guide the motion. The can be used as tool increase accuracy operator while remaining compliant instructions. We propose dual-loop control structure where outer admittance loop allows along considering projection external force tangential-normal-binormal (TNB) frame associated path. inner motion is designed based on modified sliding mode (SMC) law. evaluate system behavior forces applied different directions end-effector 6-DOF industrial in linear test. Next, second test using 3D tracking task conducted, specify three interaction types: free (FM), force-applied (FAM), combined virtual (CVF). Results show difference root mean square error (RMSE) among cases less than 0.1 mm, which proves feasibility applying method for various path-tracking applications human–robot collaboration.