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A general framework for cobot control

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3 Author(s)
Gillespie, R.B. ; Dept. of Mech. Eng., Michigan Univ., Ann Arbor, MI, USA ; Colgate, J.E. ; Peshkin, M.A.

A general framework is presented for the design and analysis of cobot controllers. Cobots are inherently passive robots intended for direct collaborative work with a human operator. While a human applies forces and moments, the controller guides motion by tuning the cobot's set of continuously variable transmissions. In this paper, a path-following controller is developed that steers the cobot so as to asymptotically approach and follow a preplanned path. The controller is based on feedback linearization. Generality across cobot architectures is assured by designing the controller in task space and developing transformations between each of four spaces: task space, joint space, a set of coupling spaces, and steering space

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:17 ,  Issue: 4 )