Experiments with the powered arm cobot

Songho Kim; Michael Peshkin; J. Edward Colgate

doi:10.1115/IMECE2004-62017

Experiments with the powered arm cobot

Songho Kim^*, Michael Peshkin, J. Edward Colgate

^*Corresponding author for this work

Mechanical Engineering

Research output: Contribution to conference › Paper › peer-review

Abstract

The Arm cobot is a three degree-of-freedom manipulator intended for direct physical interaction with a human operator. The Arm cobot can operate as a passive device, such that the cobot sets the end-effector's allowed direction of motion, while the human operator provides all motive forces. Previous work with the passive Arm cobot involved displaying free motion and virtual paths and surfaces. This paper presents experimental results with a powered Arm cobot. In one experiment, the Arm cobot is commanded to track a user-defined trajectory, while in another experiment, we show an improved free motion controller.

Original language	English (US)
Pages	1255-1260
Number of pages	6
DOIs	https://doi.org/10.1115/IMECE2004-62017
State	Published - 2004
Event	2004 ASME International Mechanical Engineering Congress and Exposition, IMECE - Anaheim, CA, United States Duration: Nov 13 2004 → Nov 19 2004

Other

Other	2004 ASME International Mechanical Engineering Congress and Exposition, IMECE
Country/Territory	United States
City	Anaheim, CA
Period	11/13/04 → 11/19/04

ASJC Scopus subject areas

Mechanical Engineering
Software

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10.1115/IMECE2004-62017

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abstract = "The Arm cobot is a three degree-of-freedom manipulator intended for direct physical interaction with a human operator. The Arm cobot can operate as a passive device, such that the cobot sets the end-effector's allowed direction of motion, while the human operator provides all motive forces. Previous work with the passive Arm cobot involved displaying free motion and virtual paths and surfaces. This paper presents experimental results with a powered Arm cobot. In one experiment, the Arm cobot is commanded to track a user-defined trajectory, while in another experiment, we show an improved free motion controller.",

author = "Songho Kim and Michael Peshkin and Colgate, {J. Edward}",

year = "2004",

doi = "10.1115/IMECE2004-62017",

language = "English (US)",

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note = "2004 ASME International Mechanical Engineering Congress and Exposition, IMECE ; Conference date: 13-11-2004 Through 19-11-2004",

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AU - Kim, Songho

AU - Peshkin, Michael

AU - Colgate, J. Edward

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AB - The Arm cobot is a three degree-of-freedom manipulator intended for direct physical interaction with a human operator. The Arm cobot can operate as a passive device, such that the cobot sets the end-effector's allowed direction of motion, while the human operator provides all motive forces. Previous work with the passive Arm cobot involved displaying free motion and virtual paths and surfaces. This paper presents experimental results with a powered Arm cobot. In one experiment, the Arm cobot is commanded to track a user-defined trajectory, while in another experiment, we show an improved free motion controller.

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Y2 - 13 November 2004 through 19 November 2004

ER -

Experiments with the powered arm cobot

Abstract

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