Citation: LONG BO (2005-09-19). Development of an elastic path controller for collaborative robot. ScholarBank@NUS Repository.
Abstract: Cobots are potentially well-suited to safety-critical tasks such as computer assisted surgery or to tasks where conventional robots would be too dangerous for direct contact with a person, such as automobile assembly. To realize the more effective collaboration between the user and the Cobots, an elastic path controller was designed and analyzed in this thesis. Compared to the original idea of Cobots which only supplies the a??guiding patha??, the elastic path controller not only supplies such a??guidinga?? path also let the user have the privilege to modify this guiding path dynamically. This path controller integrates the functions of path following and obstacle avoidance. The system can complete the obstacle avoidance task easily even without the obstacle detectors as long as the user has vision ability and can operate the access method. The simulation on the elastic path controller was done in the simulation environment written in MATLAB. And it also had been tested on the Cobot platform a??scootera?? which is developed in LIMS, Northwestern University.