A general framework for Cobot control

R. Brent Gillespie; J. Edward Colgate; Michael A. Peshkin

doi:10.1109/70.954752

A general framework for Cobot control

R. Brent Gillespie, J. Edward Colgate, Michael A. Peshkin

Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

94 Scopus citations

Abstract

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.

Original language	English (US)
Pages (from-to)	391-401
Number of pages	11
Journal	IEEE Transactions on Robotics and Automation
Volume	17
Issue number	4
DOIs	https://doi.org/10.1109/70.954752
State	Published - Aug 2001

Keywords

Cobot
Feedback linearization
Path following
Virtual fixtures

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/70.954752

Cite this

@article{8a10b91463c04be8a17302a807b56b34,

title = "A general framework for Cobot control",

abstract = "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.",

keywords = "Cobot, Feedback linearization, Path following, Virtual fixtures",

author = "{Brent Gillespie}, R. and {Edward Colgate}, J. and Peshkin, {Michael A.}",

year = "2001",

month = aug,

doi = "10.1109/70.954752",

language = "English (US)",

volume = "17",

pages = "391--401",

journal = "IEEE Transactions on Robotics and Automation",

issn = "1042-296X",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "4",

}

TY - JOUR

T1 - A general framework for Cobot control

AU - Brent Gillespie, R.

AU - Edward Colgate, J.

AU - Peshkin, Michael A.

PY - 2001/8

Y1 - 2001/8

N2 - 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.

AB - 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.

KW - Cobot

KW - Feedback linearization

KW - Path following

KW - Virtual fixtures

UR - http://www.scopus.com/inward/record.url?scp=0035428362&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0035428362&partnerID=8YFLogxK

U2 - 10.1109/70.954752

DO - 10.1109/70.954752

M3 - Article

AN - SCOPUS:0035428362

SN - 1042-296X

VL - 17

SP - 391

EP - 401

JO - IEEE Transactions on Robotics and Automation

JF - IEEE Transactions on Robotics and Automation

IS - 4

ER -

A general framework for Cobot control

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this