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

Abstract : 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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Submitted on : Saturday, August 17, 2019 - 8:26:06 PM
Last modification on : Friday, August 5, 2022 - 2:54:51 PM
Long-term archiving on: : Wednesday, January 8, 2020 - 12:18:45 PM


  • HAL Id : hal-01984436, version 1


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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