Journal
ROBOTICA
Volume 21, Issue -, Pages 295-302Publisher
CAMBRIDGE UNIV PRESS
DOI: 10.1017/S0263574702004800
Keywords
intelligent power assist; Cobot; differential CVT; interaction control
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This paper presents a novel Cobotic system with differential CVT. The new system is significantly cheaper, simpler to control and more efficient than Cobots with S-CVTs. Both path-guidance and power-assist functions can be simply realized with the new system. Basic structures, kinematic and dynamic models, as well as control algorithms, which are essential for design, control synthesis and control of the system, are briefly presented in the paper.
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