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

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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Robotics [cs.RO]

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Romansy.pdf (440.04 Ko)

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https://hal.science/hal-01984436

Submitted on : Saturday, August 17, 2019-8:26:06 PM

Last modification on : Tuesday, August 27, 2024-12:49:51 PM

Long-term archiving on : Wednesday, January 8, 2020-12:18:45 PM

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

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HAL Id : hal-01984436 , version 1

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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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UNIV-NANTES CNRS UNIV-AMU EC-NANTES UNAM LS2N LS2N-REV LS2N-ROMAS ISM-EJM NANTES-UNIVERSITE

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