DocumentCode
1872383
Title
Cobot implementation of 3D virtual surfaces
Author
Moore, Carl A. ; Peshkin, Michael A. ; Colgate, J. Edward
Author_Institution
Dept. of Mech. Eng., FAMU-FSU Coll. of Eng., Tallahassee, FL, USA
Volume
3
fYear
2002
fDate
2002
Firstpage
3242
Lastpage
3247
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 3R parallelogram cobot. Here we present a control method for the display of virtual surfaces and for free-mode in which the cobot endpoint moves as if it were unconstrained. We show experimental results on the performance of the cobot in these modes
Keywords
man-machine systems; manipulators; 3D virtual surfaces; 3R parallelogram cobot; cobot endpoint motion; computer-controlled continuously variable transmissions; free-mode; human/robot interaction; motion axes; virtual surface display; Displays; Force control; Humans; Manipulators; Mobile robots; Power supplies; Robot sensing systems; Safety; Sampling methods; Service robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location
Washington, DC
Print_ISBN
0-7803-7272-7
Type
conf
DOI
10.1109/ROBOT.2002.1013726
Filename
1013726
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