Human-robot cooperation tasks are becoming important among robotic applications since robots have involved in the field of non-isolated tasks. Ability of synchronizing the motion with human’s action and managing any physical interaction during cooperation are distinctive characteristics for a manipulator working with a human operator. During a cooperation, robot should learn to recognize operator’s motion and react finely in order to achieve desired state. Example of interaction in human-robot cooperation is when the operator pushes one of the robot links as a command, while it is executing a task. To handle an interaction, an identification method and then a control approach are needed. The core idea of this study is finding a reliable method to control the robot in the cooperation scenarios leading to interaction,having the human safety in priority. Thereare variety of methods for a robot to recognizehuman’s command. Analyzing external torque applied to the robot is suggested in this study. This data shows an algorithmic changes during an interaction. Formulating this algorithm can help to detect interaction and its position in different situations. When interaction position is found, the external force can be driven using external torque vector and Jacobin matrix. Using a proper controller and having the interaction force and position, robot follows the external force as a new command. For a robot executing a task, interaction leads to change its path and follow a new path drawn by the human force. When operator stops applying force, robot must continue the main task which was interrupted. But according to human’s plan, how robot return to the first task can categorized into various scenarios. The steps including interaction identification, interaction control and returning to initial task are simulated in MATLAB and then validated using the KUKA LBR iiwa. Keywords: Human-Robot Cooperation, Physical Interaction, External Interaction Identification, Physical Interaction Control, Kinematic Control
