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
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;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013726
