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This paper presents stability analysis far an impedance control of a specific robot system in a bumanrobot caoper~tiw t a d system. In the stability analysis, we consider these conditions such as an impedance characteristic ofthe robot, time delay a l a human operator and a control of the robot, a compliance of structure of the robot, and an environment stiffness respectively. The stability analysis simulation reveals that these conditions have significant influence on the stability of the system lo order to investigate the usefulness of the stability analysis simulation, a verification experiment using B Mitsubishi PA-IO robot arm was carried aut. Experimental results illustrate that the investigated stability analysis is useful and eNective to simulate and reveal the stabilily of the human-robot cooperative task system.

Human-Robot Cooperative Calligraphic Task -m Toru TSUMUCIWA' , Ryuichi YOKOGAWA*' and Kei HARA*' t)epat'rinent qf A,fechani('al Ett,gineeriii,g, Dt)shisha U"iL'ei'sit.y E-nraiL' * tt"rtt@Jnctht)rohct.tte,ip, ** f r.yoA'qgau' , k'

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