Abstract
This paper deals with the interaction between a specified robot and its environment. A particular case is considered, which is a co-manipulation case, where an operator is performing a co-operative 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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References
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Acknowledgments
This research was supported by BPI France through the Competitiveness Clusters Structuring Project (PSPC) MammoNExT. The project is co-funded by the European Union. Europe is now investing in Pays de la Loire with the European Regional Development Fund.
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© 2019 CISM International Centre for Mechanical Sciences
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Devie, S., Robet, PP., Aoustin, Y., Gautier, M. (2019). On the Use of Inner Position Loop in Co-manipulation Task. In: Arakelian, V., Wenger, P. (eds) ROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 584. Springer, Cham. https://doi.org/10.1007/978-3-319-78963-7_26
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DOI: https://doi.org/10.1007/978-3-319-78963-7_26
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