A general framework for cobot control

Author

Gillespie, R. Brent ; Colgate, J. Edward ; Peshkin, Michael A.

Author_Institution

Dept. of Mech. Eng., Michigan Univ., Ann Arbor, MI, USA

Volume

17

Issue

4

fYear

2001

fDate

8/1/2001 12:00:00 AM

Firstpage

391

Lastpage

401

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 preplanned 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

feedback; linearisation techniques; man-machine systems; manipulators; position control; cobot control; continuously variable transmissions; coupling spaces; direct collaborative work; feedback linearization; human operator; inherently passive robots; joint space; path-following controller; steering space; task space; transformations; Collaborative work; Feedback; Fixtures; Humans; Mechanical engineering; Motion control; Resists; Robots; Safety; Wheels;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.954752

Filename

954752