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

  • Devie Sylvain
  • Robet Pierre-Philippe
  • Aoustin Yannick
  • Gautier Maxime


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.