Schraft, R.D.R.D.SchraftMeyer, C.C.MeyerParlitz, C.C.ParlitzHelms, E.E.Helms2022-03-102022-03-102005https://publica.fraunhofer.de/handle/publica/34829910.1109/ROBOT.2005.15707452-s2.0-33846152916In this contribution a robot assistant for handling and assembly tasks is presented. The main emphasis of PowerMate was to create a robot assistant that works together with a human worker that is conform to safety category 3 according to DIN ISO 954 and to use components suitable for industrial use, which leads to certain constraints on the possible control mechanisms. An overview of existing concepts of man-machine-cooperation is given. Different architectures for these kinds of robot assistants are discussed. A user-customizable motion control for PowerMate is presented. A description of the force-movement-calculations, the hardware and software architecture and the safety system of the robot assistant is given.enrobot assistanthuman-robotman-machine systemrobot safetyPowerMateassemblyRoboter670conference paper