A general framework for Cobot control

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89 Scopus citations


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 languageEnglish (US)
Pages (from-to)391-401
Number of pages11
JournalIEEE Transactions on Robotics and Automation
Issue number4
StatePublished - Aug 2001


  • Cobot
  • Feedback linearization
  • Path following
  • Virtual fixtures

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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