On the Use of Inner Position Loop in Co-manipulation Task

  • Sylvain DevieEmail author
  • Pierre-Philippe Robet
  • Yannick Aoustin
  • Maxime Gautier
Conference paper
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 584)


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.


Force 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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Copyright information

© CISM International Centre for Mechanical Sciences 2019

Authors and Affiliations

  • Sylvain Devie
    • 1
    Email author
  • Pierre-Philippe Robet
    • 1
  • Yannick Aoustin
    • 1
  • Maxime Gautier
    • 1
  1. 1.Université de Nantes Laboratoire des Sciences du Numérique de Nantes, UMR 6004, CNRSNantesFrance

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