Cobot implementation of 3D virtual surfaces

Research output: Contribution to journalArticlepeer-review

5 Scopus citations


Cobots are devices for human/robot interaction, in which axes of motion are coupled to one another by computer-controlled continuously variable transmissions rather than individually driven by servomotors. We have recently built a 3R parallelogram cobot shown in Figure 1. Here we present a control method for the display of virtual surfaces and for free-mode in which the cobot endpoint moves as if it were unconstrained. We show experimental results on the performance of the cobot in these modes.

Original languageEnglish (US)
Pages (from-to)3242-3247
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - Jan 1 2002

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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