Cobot implementation of virtual paths and 3D virtual surfaces

Author

Moore, Carl A., Jr. ; Peshkin, Michael A. ; Colgate, J. Edward

Author_Institution

Dept. of Mech. Eng., Florida A&M Univ., Tallahassee, FL, USA

Volume

19

Issue

2

fYear

2003

fDate

4/1/2003 12:00:00 AM

Firstpage

347

Lastpage

351

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 the control methods for the display of virtual surfaces and for free mode in which the cobot endpoint moves as if it were unconstrained. We provide experimental results on the performance of the free, virtual path, and virtual surface controllers.

Keywords

computerised control; man-machine systems; manipulator kinematics; virtual reality; 3D surface controller; cobot; continuously variable transmissions; human robot collaboration; intelligent assist device; kinematics; parallelogram-type mechanism; virtual path generation; Computer displays; Couplings; Haptic interfaces; Human robot interaction; Intelligent robots; Mechanical engineering; Mechanical power transmission; Mobile robots; Service robots; Servomotors;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/TRA.2003.808866

Filename

1192163