TY - JOUR A1 - Großmann, Benjamin A1 - Schlegl, Thomas T1 - Development of a Hybrid Path/Force Control Architecture for an Assisting Robot T2 - International journal of mechanics and control : JoMaC N2 - For human machine interaction a control ar chitecture for the force controlled guidance mode of a five axis robot is developed. This enables a human operator to move the robot easily by applying forces at th e end-effector. The position and th e path can then be tracked and stored for a later reuse. The control archit ecture is also used in a hybrid mode where it is possible to control chosen workspace coordinates with a path controller and others with a force controller. The hybrid mode is especially used to cut tissue material with a scalpel which is mounted at the robots effector. KW - robotics KW - force control KW - hybrid control KW - assisting robot Y1 - 2014 UR - https://opus4.kobv.de/opus4-oth-regensburg/frontdoor/index/index/docId/4904 UR - http://www.jomac.it/data/uploads/freeissue/jomac14a.pdf SN - 1590-8844 VL - 15 IS - 1 SP - 27 EP - 34 PB - Levrotto&Bella CY - Torino ER -