On the Use of Inner Position Loop in Co-manipulation Task
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.
KeywordsForce control Co-manipulation Control design
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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