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 cobot with a three-dimensional workspace and a 3-revolute parallelogram-type mechanism. Here we present control methods for the display of virtual surfaces and for free mode in which the cobot end-point moves as if it were unconstrained. We provide experimental results on the performance of the free, virtual path, and virtual surface controllers.
- Cobot, haptics
- Human/robot collaboration
- Intelligent assist device (IAD)
- Virtual constraint
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering