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On the use of inner position loop in co-manipulation task

Abstract

This paper deals with the study of the interaction between a specified robot and its environment. A particular cases is considered, which is a co-manipulation case, where an operator is performing a cooperative task with the robot. Cascaded loops are considered for the control design and a frequency analysis is performed to study the influence of the position loop.
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Dates and versions

hal-01984436 , version 1 (17-08-2019)

Identifiers

  • HAL Id : hal-01984436 , version 1

Cite

Sylvain Devie, Pierre-Philippe Robet, Yannick Aoustin, Maxime Gautier. On the use of inner position loop in co-manipulation task. ROMANSY 22–Robot Design, Dynamics and Control Proceedings of the 22nd CISM IFToMM Symposium, June 25-28, 2018, Rennes, France, 2019. ⟨hal-01984436⟩
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