Experiments with the powered arm cobot

Songho Kim*, Michael Peshkin, J. Edward Colgate

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review


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 languageEnglish (US)
Number of pages6
StatePublished - 2004
Event2004 ASME International Mechanical Engineering Congress and Exposition, IMECE - Anaheim, CA, United States
Duration: Nov 13 2004Nov 19 2004


Other2004 ASME International Mechanical Engineering Congress and Exposition, IMECE
Country/TerritoryUnited States
CityAnaheim, CA

ASJC Scopus subject areas

  • Mechanical Engineering
  • Software


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