A Controller for Simulating Freedom of Motion for a Cobot

Abstract

A method is presented for creating a controller to simulate free motion for a cobot. A cobot is a class of mechanically passive robotic devices, intended for direct physical collaboration with a human operator (Colgate, et al., 1996a). One common cobot application involves a person using the cobot’s endpoint to probe a virtual surface. This task requires… (More)

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