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

Sylvain Devie (1, 2) , Pierre-Philippe Robet (1, 3) , Yannick Aoustin (1, 2) , Maxime Gautier (4)

1 LS2N - Laboratoire des Sciences du Numérique de Nantes
2 LS2N - équipe ReV - Robotique Et Vivant
3 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services
4 ISM - Institut des Sciences du Mouvement Etienne Jules Marey

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.

Domaines: Robotique [cs.RO]

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⟩