Table of Contents
Design and Control of a 3-Revolute Arm Cobot
The Birth of Cobots
A Cobot….
Everyday Constraints
Computerized or Virtual Constraint
Virtual Constraints
Virtual Constraints
Constraints in Assembly
Use a traditional robot?
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Steering creates a Constraint
Unicycle Cobot
The wheel is the transmission.
Two Modes of Operation
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Scooter’s Motion
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Robots Cobots
Desired: Arm-like Cobot
Arm Cobot Design
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CVT
CVTs and Common Wheel
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One Allowed Degree of Freedom
Cobot Control
Free Mode Control
Response to Forces
Steering Velocity for F? ?
Update Steering Angle
Similarly for Arm Cobot
CVT Steering Velocity
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Free Mode Controller
Free Mode
Changing the Virtual Mass
Virtual Mass Effect on Required Force
Virtual Path Mode
Error Contributors
Toward Feedback Control
Control
Virtual Path Controller
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Virtual Surface Mode
Tangent Projected onto Surface
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Future Research Opportunities for Graduate Students
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