A general framework for cobot control
- 20 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3 (10504729) , 1824-1830
- https://doi.org/10.1109/robot.1999.770374
Abstract
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.Keywords
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