General framework for cobot control

R. Bent Gillespie*, Ed Colgate, Michael Peshkin

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

18 Scopus citations


A general framework is presented for the design and analysis of cobot controllers. Cobots are inherently passive robots intended for direct collaborative work with a human operator. While a human applies forces and moments, the controller guides motion by tuning the cobot's set of continuously variable transmissions. In this paper, a path following controller is developed that steers the cobot so as to asymptotically approach and follow a pre-planned path. The controller is based on feedback linearization. Generality across cobot architectures is assured by designing the controller in task space and developing transformations between each of four spaces: task space, joint space, a set of coupling spaces, and steering space.

Original languageEnglish (US)
Pages (from-to)1824-1830
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - Jan 1 1999

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering


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