This paper presents stability analysis for an impedance control of a robot for a human-robot cooperative task system. In the stability analysis, an impedance characteristic of the robot, time delay of a human operator and a control of the robot, a compliance of structure of the robot, and an environmental stiffness in a cooperative task are taken into consideration. The proposed stability analysis simulation reveals that these elements have significant influence on the stability of the system.

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... n order to confirm the usefulness of the stability analysis simulation, a verification experiment using an arm robot Mitsubishi PA-10 was performed. Experimental results illustrate that the proposed stability analysis is useful and effective to simulate the stability of the human-robot cooperative task system.