Abstract
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.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 347-351 |
| Number of pages | 5 |
| Journal | IEEE Transactions on Robotics and Automation |
| Volume | 19 |
| Issue number | 2 |
| DOIs | |
| State | Published - Apr 2003 |
Funding
Manuscript received December 20, 2001; revised June 27, 2002. This paper was recommended for publication by Associate Editor H. Arai and Editor A. De Luca upon evaluation of the reviewers’ comments. This work was supported in part by the Office of Naval Research under Grant N00014-92-J-1252. This paper was presented in part at the 2002 IEEE Robotics and Automation Conference and in part at the 2000 7th Mechatronics Forum International Conference.
Keywords
- Cobot, haptics
- Human/robot collaboration
- Intelligent assist device (IAD)
- Nonholonomic
- Virtual constraint
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering