Fakultät Maschinenbau
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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.