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Experiments With the Powered Arm Cobot

[+] Author Affiliations
Songho Kim, Michael Peshkin, J. Edward Colgate

Northwestern University

Paper No. IMECE2004-62017, pp. 1255-1260; 6 pages
  • ASME 2004 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Anaheim, California, USA, November 13 – 19, 2004
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4706-3 | eISBN: 0-7918-4178-2, 0-7918-4179-0, 0-7918-4180-4
  • Copyright © 2004 by ASME


The Arm cobot is a three degree-of-freedom manipulator intended for direct physical interaction with a human operator. The Arm cobot can operate as a passive device, such that the cobot sets the end-effector’s allowed direction of motion, while the human operator provides all motive forces. Previous work with the passive Arm cobot involved displaying free motion and virtual paths and surfaces. This paper presents experimental results with a powered Arm cobot. In one experiment, the Arm cobot is commanded to track a user-defined trajectory, while in another experiment, we show an improved free motion controller.

Copyright © 2004 by ASME



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