Architecture and trajectory constraint control of a five bar Cobot

Cobot (collaborative robot) doesn't have any motive power of its own, so it can do direct collaborative work with a human operator in a shared workspace. In this paper a five bar Cobot and its trajectory constraint control strategy are presented. The Cobot uses two new CVTs (continuously variab...

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Hauptverfasser:	Dunmin Lu, Lixun Zhang, Lan Wang, Jinhua Shen
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Collaborative work DC motors Educational institutions Electric variables control Force control Mechanical power transmission Mechanical variables control Power engineering and energy Robots Strain control
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container_end_page	4963 Vol.6
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creator	Dunmin Lu Lixun Zhang Lan Wang Jinhua Shen
description	Cobot (collaborative robot) doesn't have any motive power of its own, so it can do direct collaborative work with a human operator in a shared workspace. In this paper a five bar Cobot and its trajectory constraint control strategy are presented. The Cobot uses two new CVTs (continuously variable transmissions) that are connected in parallel mode, which are separately installed on the two base joints of the Cobot. The CVT is composed of two DC motors, two unilateral over-running clutches and so on. The constraint control of the Cobot endpoint trajectory was implemented by regulating the speed of each CVT. In addition the trajectory constraint control strategy involves in actual position, speed of the Cobot endpoint and the force applied by a human operator. An experiment prototype of Cobot was developed, and the experiment results show that the Cobot architecture and the trajectory constraint control strategy are feasible.
doi_str_mv	10.1109/WCICA.2004.1343657
format	Conference Proceeding
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In this paper a five bar Cobot and its trajectory constraint control strategy are presented. The Cobot uses two new CVTs (continuously variable transmissions) that are connected in parallel mode, which are separately installed on the two base joints of the Cobot. The CVT is composed of two DC motors, two unilateral over-running clutches and so on. The constraint control of the Cobot endpoint trajectory was implemented by regulating the speed of each CVT. In addition the trajectory constraint control strategy involves in actual position, speed of the Cobot endpoint and the force applied by a human operator. An experiment prototype of Cobot was developed, and the experiment results show that the Cobot architecture and the trajectory constraint control strategy are feasible.</description><identifier>ISBN: 9780780382732</identifier><identifier>ISBN: 0780382730</identifier><identifier>DOI: 10.1109/WCICA.2004.1343657</identifier><language>eng</language><publisher>IEEE</publisher><subject>Collaborative work ; DC motors ; Educational institutions ; Electric variables control ; Force control ; Mechanical power transmission ; Mechanical variables control ; Power engineering and energy ; Robots ; Strain control</subject><ispartof>Fifth World Congress on Intelligent Control and Automation (IEEE Cat. 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An experiment prototype of Cobot was developed, and the experiment results show that the Cobot architecture and the trajectory constraint control strategy are feasible.</description><subject>Collaborative work</subject><subject>DC motors</subject><subject>Educational institutions</subject><subject>Electric variables control</subject><subject>Force control</subject><subject>Mechanical power transmission</subject><subject>Mechanical variables control</subject><subject>Power engineering and energy</subject><subject>Robots</subject><subject>Strain control</subject><isbn>9780780382732</isbn><isbn>0780382730</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2004</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNp9jkEKwjAURAMiKNoL6OZfwJo0qW2XNSi6F1yWtKaYUhv5iUJvbwTXDgMzj9kMIStGY8Zosb3KsyzjhFIRMy74Ls0mJCqynAbzPMl4MiORcx0N4kUqqJiTfYnN3Xjd-BdqUMMNPKouoMURGju4gGbw3-rR9mBbUNCat4ZaIUhbW78k01b1Tke_XJD18XCRp43RWldPNA-FY_V7xP-vH_9AOnk</recordid><startdate>2004</startdate><enddate>2004</enddate><creator>Dunmin Lu</creator><creator>Lixun Zhang</creator><creator>Lan Wang</creator><creator>Jinhua Shen</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>2004</creationdate><title>Architecture and trajectory constraint control of a five bar Cobot</title><author>Dunmin Lu ; Lixun Zhang ; Lan Wang ; Jinhua Shen</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-ieee_primary_13436573</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2004</creationdate><topic>Collaborative work</topic><topic>DC motors</topic><topic>Educational institutions</topic><topic>Electric variables control</topic><topic>Force control</topic><topic>Mechanical power transmission</topic><topic>Mechanical variables control</topic><topic>Power engineering and energy</topic><topic>Robots</topic><topic>Strain control</topic><toplevel>online_resources</toplevel><creatorcontrib>Dunmin Lu</creatorcontrib><creatorcontrib>Lixun Zhang</creatorcontrib><creatorcontrib>Lan Wang</creatorcontrib><creatorcontrib>Jinhua Shen</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Dunmin Lu</au><au>Lixun Zhang</au><au>Lan Wang</au><au>Jinhua Shen</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Architecture and trajectory constraint control of a five bar Cobot</atitle><btitle>Fifth World Congress on Intelligent Control and Automation (IEEE Cat. No.04EX788)</btitle><stitle>WCICA</stitle><date>2004</date><risdate>2004</risdate><volume>6</volume><spage>4960</spage><epage>4963 Vol.6</epage><pages>4960-4963 Vol.6</pages><isbn>9780780382732</isbn><isbn>0780382730</isbn><abstract>Cobot (collaborative robot) doesn't have any motive power of its own, so it can do direct collaborative work with a human operator in a shared workspace. In this paper a five bar Cobot and its trajectory constraint control strategy are presented. The Cobot uses two new CVTs (continuously variable transmissions) that are connected in parallel mode, which are separately installed on the two base joints of the Cobot. The CVT is composed of two DC motors, two unilateral over-running clutches and so on. The constraint control of the Cobot endpoint trajectory was implemented by regulating the speed of each CVT. In addition the trajectory constraint control strategy involves in actual position, speed of the Cobot endpoint and the force applied by a human operator. An experiment prototype of Cobot was developed, and the experiment results show that the Cobot architecture and the trajectory constraint control strategy are feasible.</abstract><pub>IEEE</pub><doi>10.1109/WCICA.2004.1343657</doi></addata></record>
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source	IEEE Electronic Library (IEL) Conference Proceedings
subjects	Collaborative work DC motors Educational institutions Electric variables control Force control Mechanical power transmission Mechanical variables control Power engineering and energy Robots Strain control
title	Architecture and trajectory constraint control of a five bar Cobot
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