PROCESS OF ORDERING Of a CELL OF WORK AUTOMATISEE

PROCESS OF ORDERING Of a CELL OF WORK AUTOMATISEE

Ce procédé de commande s'applique à une cellule de travail automatisée comprenant au moins un bras de robot (4) avec au moins trois degrés de liberté pilotés suivant plusieurs axes de commande (A1-A6; X, Y, Z, Rx, Ry, Rz), une centrale de commande (8), un dispositif (6) de contrôle du bras de robot (4) qui comprend plusieurs contrôleurs de moteurs (61-66) pilotant chacun le fonctionnement, selon un axe, d'un moteur (M1-M6) adapté pour manœuvrer au moins une partie du bras de robot (4) et un bus (14) de communication entre la centrale de commande (8) et le dispositif (6) de contrôle du bras de robot (4). Ce procédé comprend des étapes consistant à : a) associer à chaque axe de commande de mouvement (A1-A6; X, Y, Z, Rx, Ry, Rz) du bras de robot (4) un contrôleur d'axe fictif censé recevoir des consignes et piloter au moins un moteur en fonction de ces consignes, b) déterminer, au niveau de la centrale de commande (8) et pour chaque axe de commande de mouvement (A1-A6; X, Y, Z, Rx, Ry, Rz) ...

METHOD FOR CONTROLLING AN AUTOMATED WORK CELL

Ce procédé de commande s'applique à une cellule de travail automatisée comprenant au moins un bras de robot (4) avec au moins trois degrés de liberté pilotés suivant plusieurs axes de commande (A1 -A6, X, Y, Z, Rx, Ry, Rz), une centrale de commande (8), un dispositif (6) de contrôle du bras de robot (4) qui comprend plusieurs contrôleurs de moteurs (61 -66) pilotant chacun le fonctionnement d'un moteur (M1 -M6) adapté pour manœuvrer au moins une partie du bras de robot et un bus (14) de communication entre la centrale de commande (8) et le dispositif (6) de contrôle du bras de robot (4). Ce procédé comprend des étapes consistant à : a) transmettre des consignes (Cri) émises par la centrale de commande (8) pour le pilotage des axes de commande une unité unique de calcul (10) appartenant au dispositif (6) de contrôle du robot (4); b) déterminer, au sein de l'unité de calcul (10) et à partir de plusieurs des consignes reçues de la centrale de commande (8), des ordres (0^) pour chacun des moteurs piloté par un contrôleur de moteur; c) transmettre à chaque contrôleur de moteur un ordre, déterminé à l'étape b), pour le moteur piloté par ce contrôleur de moteur.

Cobots

An apparatus and method for direct physical interaction between a person and a general purpose manipulator controlled by a computer. The apparatus, known as a collaborative robot or "cobot," may take a number of configurations common to conventional robots. In place of the actuators that move conventional robots, however, cobots use variable transmission elements whose transmission ratio is adjustable under computer control via small servomotors. Cobots thus need few if any powerful, and potentially dangerous, actuators. Instead, cobots guide, redirect, or steer motions that originate with the person. A method is also disclosed for using the cobot's ability to redirect and steer motion in order to provide physical guidance for the person, and for any payload being moved by the person and the cobot. Virtual surfaces, virtual potential fields, and other guidance schemes may be defined in software and brought into physical effect by the cobot.

MASTER AND SLAVE ARRANGEMENT IN MINIMUM AN INTERVENTION CHIRUGI DEVICE

MASTERUND SLAVE ARRANGEMENT IN MINIMUM AN INTERVENTION CHIRUGI DEVICE

PROCESS OF ORDERING Of a CELL OF WORK AUTOMATISEE

Alignment of master and slave in a minimally invasive surgical apparatus

自動化作業セルを制御するための方法

PROCESS OF ORDERING Of a CELL OF WORK AUTOMATISEE

Ce procédé de commande s'applique à une cellule de travail automatisée comprenant au moins un bras de robot (4) avec au moins trois degrés de liberté pilotés suivant plusieurs axes de commande (A1-A6, X, Y, Z, Rx, Ry, Rz), une centrale de commande (8), un dispositif (6) de contrôle du bras de robot (4) qui comprend plusieurs contrôleurs de moteurs (61-66) pilotant chacun le fonctionnement d'un moteur (M1-M6) adapté pour manœuvrer au moins une partie du bras de robot et un bus (14) de communication entre la centrale de commande (8) et le dispositif (6) de contrôle du bras de robot (4). Ce procédé comprend des étapes consistant à : a) transmettre des consignes (C1i) émises par la centrale de commande (8) pour le pilotage des axes de commande une unité unique de calcul (10) appartenant au dispositif (6) de contrôle du robot (4); b) déterminer, au sein de l'unité de calcul (10) et à partir de plusieurs des consignes reçues de la centrale de commande (8), des ordres (O1i) pour le moteur piloté ...

PASSIVE ROBOTIC CONSTRAINT DEVICES USING NON-HOLONOMIC TRANSMISSION ELEMENTS

A passive constraint device (10) for implementing a programmable virtual constraint surface, comprises one or more non-holonomic transmission elements (W) for coupling velocities of motion and having a steering angle. A user moves the handle (S) of the passive constraint device relative to the virtual surface (VW). A steering motor (M) sets the steering angle of the non-holonomic element in response to the proximity of the handle (S) to the virtual surface (VW). When in contact with the virtual surfaces (VW), the steering motor (M) adjusts the steering angle in response to the user's applied forces, to provide apparent freedom of motion to the user.

ALIGNMENT OF MASTER AND SLAVE IN A MINIMALLY INVASIVE SURGICAL APPARATUS

La présente invention concerne l'établissement d'un alignement ou d'une relation d'orientation voulue entre l'unité maître et l'unité asservie d'un système télérobotique. L'invention peut être utilisée avantageusement dans un appareil chirurgical. L'invention concerne, plus précisément, un procédé permettant d'établir une relation d'orientation voulue entre une pièce à main d'un contrôleur maître et l'effecteur terminal d'une unité asservie associée, tel que visualisé sur une image affichée sur un visualiseur. Ledit procédé consiste à faire en sorte que l'effecteur terminal reste fixe, à déterminer une orientation courante de l'effecteur terminal par rapport à une extrémité de visualisation d'un dispositif de saisie d'image associé fonctionnellement au visualiseur, et à déterminer l'orientation correspondante voulue de la pièce à main du contrôleur maître par rapport au visualiseur, laquelle orientation permettrait d'obtenir la relation d'orientation voulue entre le contrôleur maître et ...

NON-HOLONOMIC USER INTERFACE FOR A ROBOT

An apparatus and method for direct physical interaction between a person and a general purpose manipulator (10) controlled by a computer. The appartus, known as a collaborative robot or "cobot" (10), may take a number of configurations common to conventional robots. In place of the actuators that move conventional robots, however, cobots use variable transmission elements (20) whose transmission ratio is adjustable under computer control via small servomotors (50). Cobots (10) thus need few if any powerful, potentially dangerous, actuators. Instead, cobots (10) guide, redirect, or steer motions that originate with the person. A method is also disclosed for using the cobot's (10) ability to redirect and steer motion in order to provide physical guidance for the person, and for any payload being moved by the person and the cobot (10). Virtual surfaces, virtual potential fields, and other guidance schemes may be defined in software and brought into physical effect by the cobot (10).

Non-holonomic user interface for a robot

METHOD FOR CONTROLLING AN AUTOMATED WORK CELL

The invention relates to a control method applied to an automated work cell which includes at least one robot arm (4) having at least three degrees of freedom controlled according to a plurality of control axes (A1-A6; X, Y, Z, Rx, Ry, Rz); a control centre (8); a device (6) for controlling the robot arm (4), which includes a plurality of motor controllers (61-66) each controlling the operation of one motor (M1-M6) along one axis, suitable for operating at least one portion of the robot arm (4); and a communication bus (14) between the control centre (8) and the device (6) for controlling the robot arm (4). Said method includes steps that consist of: a) associating with each axis (A1-A6; X, Y, Z, Rx, Ry, Rz) for controlling the movement of the robot arm (4) a controller having an imaginary axis intended for receiving instructions and controlling at least one motor according to said instructions; b) determining, in the control centre (8) and for each axis (A1-A6; X, Y, Z, Rx, Ry, Rz) for ...

자동화 워크셀 제어 방법

... 본 발명은 여러 개의 제어축(A1 내지 A6; X, Y, Z, Rx, Ry, Rz)에 따라 제어되는 적어도 세 개의 자유도를 갖는 적어도 하나의 로봇 아암(4)과, 제어 센터(8)와, 로봇 아암(4)의 적어도 일부를 조작하기에 적절한 모터(M1 내지 M6)의 기능을 각각 제어하는 복수의 모터 제어기(61 내지 66)를 포함하는 로봇 아암(4) 제어 장치(6)와, 제어 센터(8) 및 로봇 아암(4)의 제어 장치 간의 통신을 위한 버스(14)를 포함하는 자동화 워크셀(2)에 사용되는 제어 방법에 관한 것이다. 상기 방법은 a) 제어축을 제어하기 위해 제어 센터(8)에서 송출되는 명령(Cri)을 로봇(4) 제어용 장치(6)에 속한 단일 연산 유닛에 전송하는 단계와, b) 연산 유닛 내에서, 제어 장치(8)로부터 수신한 명령에 따라, 모터 제어기에 의해 제어되는 각각의 모터를 위한 명령(O')을 결정하는 단계와, c) 상기 모터 제어기에 의해 제어되는 모터를 위해 단계 b)에서 결정된 명령을 각각의 모터 제어기로 전송하는 단계를 포함한다.

Alignment of master and slave in a minimally invasive surgical apparatus

This invention relates to establishing alignment or a desired orientational relationship between a master and a slave of a telerobotic system. The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer is provided. The method includes causing the end effector to remain stationary, determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer and determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer, at which orientation the desired orientational relationship between the hand-held part of the master control and the end effector would be established. The method further includes causing the hand-held part of the master control to be moved into the ...

자동화 워크셀 제어 방법

... 본 발명은 여러 개의 제어축(A1 내지 A6; X, Y, Z, Rx, Ry, Rz)에 따라 제어되는 적어도 세 개의 자유도를 갖는 적어도 하나의 로봇 아암(4)과, 제어 센터(8)와, 로봇 아암(4)의 적어도 일부를 조작하기에 적절한 모터(M1 내지 M6)의 기능을 각각 제어하는 복수의 모터 제어기(61 내지 66)를 포함하는 로봇 아암(4) 제어 장치(6)와, 제어 센터(8) 및 로봇 아암(4)의 제어 장치 간의 통신을 위한 버스(14)를 포함하는 자동화 워크셀(2)에 사용되는 제어 방법에 관한 것이다. 상기 방법은 a) 명령을 수신하고 상기 명령에 따라 적어도 하나의 모터를 제어하도록 의도된 가상 축을 갖는 제어기를 로봇 아암(4)의 동작을 제어하기 위한 각각의 축(A1 내지 A6; X, Y, Z, Rx, Ry, Rz)과 연계시키는 단계와, b) 제어 센터(8)에서, 로봇 아암(4)의 동작을 제어하기 위한 각각의 제어축(A1 내지 A6; X, Y, Z, Rx, Ry, Rz)에 대해, 각각의 상기 축에 대응하는 가상축 제어기를 대상으로 하는 명령(Cri)을 결정하는 단계와, c) 로봇 아암(4) 제어 장치(6)에 속한 단일 연산 유닛(10)으로 단계 b)에서 결정된 명령(CU)를 전송하는 단계를 포함한다.

ALIGNMENT OF MASTER AND SLAVE IN A MINIMALLY INVASIVE SURGICAL APPARATUS

La présente invention concerne l'établissement d'un alignement ou d'une relation d'orientation voulue entre l'unité maître et l'unité asservie d'un système télérobotique. L'invention peut être utilisée avantageusement dans un appareil chirurgical. L'invention concerne, plus précisément, un procédé permettant d'établir une relation d'orientation voulue entre une pièce à main d'un contrôleur maître et l'effecteur terminal d'une unité asservie associée, tel que visualisé sur une image affichée sur un visualiseur. Ledit procédé consiste à faire en sorte que l'effecteur terminal reste fixe, à déterminer une orientation courante de l'effecteur terminal par rapport à une extrémité de visualisation d'un dispositif de saisie d'image associé fonctionnellement au visualiseur, et à déterminer l'orientation correspondante voulue de la pièce à main du contrôleur maître par rapport au visualiseur, laquelle orientation permettrait d'obtenir la relation d'orientation voulue entre le contrôleur maître et ...

ALIGNMENT OF MASTER AND SLAVE IN A MINIMALLY INVASIVE SURGICAL APPARATUS

METHOD OF CONTROLLING AN AUTOMATED WORK CELL

MASTER- UND SLAVE-ANORDNUNG IN EINER MINIMAL EINGREIFENDEN CHIRUGISCHEN VORRICHTUNG

MASTER- UND SLAVE-ANORDNUNG IN EINER MINIMAL EINGREIFENDEN CHIRUGISCHEN VORRICHTUNG

METHOD OF CONTROLLING AN AUTOMATED WORK CELL

ORE-STAMP.

Method for controlling an automated work cell

A method for controlling an automated work cell which includes at least one robot arm having at least three degrees of freedom controlled according to a plurality of control axes; a control center; a device for controlling the robot arm which includes a plurality of motor controllers each controlling operation of one motor and suitable for operating at least one portion of the robot arm; and a communication bus between the control center and the device for controlling the robot arm; wherein the method includes steps of: a) sending instructions emitted by the control center to control the control axes to a single arithmetic unit belonging to the device for controlling the robot; b) determining, within the arithmetic unit and according to instructions received from the orders for each of the motors controlled by a motor controller; and c) sending each motor controller an order, determined in step b), for the motor controlled by each motor controller.

Alignment of master and slave in a minimally invasive surgical apparatus

This invention relates to establishing alignment or a desired orientational relationship between a master and a slave of a telerobotic system. The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer is provided. The method includes causing the end effector to remain stationary, determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer and determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer, at which orientation the desired orientational relationship between the hand-held part of the master control and the end effector would be established. The method further includes causing the hand-held part of the master control to be moved into the desired corresponding orientation. The invention extends to a control system arranged to cause the desired orientational relationship between the hand-held part of the master control and the end effector of the associated slave, as viewed in the displayed imaged on the viewer, to be established when operative control between the master control and the slave has been interrupted.

METHOD FOR CONTROLLING AN AUTOMATED WORK CELL

METHOD FOR CONTROLLING AN AUTOMATED WORK CELL

METHOD FOR CONTROLLING AN AUTOMATED WORK CELL

processo de comando de uma célula de trabalho automatizada

Alignment of master and slave in a minimally invasive surgical apparatus

This invention relates to establishing alignment or a desired orientational relationship between a master and a slave of a telerobotic system. The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer is provided. The method includes causing the end effector to remain stationary, determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer and determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer, at which orientation the desired orientational relationship between the hand-held part of the master control and the end effector would be established. The method further includes causing the hand-held part of the master control to be moved into the ...

Cobots

An apparatus and method for direct physical interaction between a person and a general purpose manipulator controlled by a computer. The apparatus, known as a collaborative robot or "cobot," may take a number of configurations common to conventional robots. In place of the actuators that move conventional robots, however, cobots use variable transmission elements whose transmission ratio is adjustable under computer control via small servomotors. Cobots thus need few if any powerful, and potentially dangerous, actuators. Instead, cobots guide, redirect, or steer motions that originate with the person. A method is also disclosed for using the cobot's ability to redirect and steer motion in order to provide physical guidance for the person, and for any payload being moved by the person and the cobot. Virtual surfaces, virtual potential fields, and other guidance schemes may be defined in software and brought into physical effect by the cobot.

METHOD FOR CONTROLLING AN AUTOMATED WORK CELL

Passive robotic constraint devices using non-holonomic transmission elements

A passive constraint device for implementing a programmable virtual constraint surface, comprises one or more non-holonomic kinematic transmission element for coupling velocities of motion and having a steering angle. A user moves the handle of the passive constraint device relative to the virtual surface. A steering motor sets the steering angle of the non-holonomic element in response to the proximity of the handle to the virtual surface. When in contact with the virtual surface, the steering angle is set so as to prohibit any motion which would penetrate the surface. When not in contact with the virtual surface, the steering motor adjusts the steering angle in response to the user's applied forces, to provide apparent freedom of motion to the user.

Alignment of master and slave in a minimally invasive surgical apparatus

This invention relates to establishing alignment or a desired orientational relationship between a master and a slave of a telerobotic system. The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer is provided. The method includes causing the end effector to remain stationary, determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer and determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer, at which orientation the desired orientational relationship between the hand-held part of the master control and the end effector would be established. The method further includes causing the hand-held part of the master control to be moved into the ...

METHOD FOR CONTROLLING AN AUTOMATED WORK CELL

Passive robotic constraint devices using non-holonomic transmission elements

A passive constraint device for implementing a programmable virtual constraint surface, comprises one or more non-holonomic kinematic transmission element for coupling velocities of motion and having a steering angle. A user moves the handle of the passive constraint device relative to the virtual surface. A steering motor sets the steering angle of the non-holonomic element in response to the proximity of the handle to the virtual surface. When in contact with the virtual surface, the steering angle is set so as to prohibit any motion which would penetrate the surface. When not in contact with the virtual surface, the steering motor adjusts the steering angle in response to the user's applied forces, to provide apparent freedom of motion to the user.

INTERMITTENTLY-DRIVEN MECHANISM ADAPTED FOR CONSTANT DRIVING.

Method for automatic control of the work unit

Method for controlling an automated work cell

The invention relates to a control method applied to an automated work cell which includes at least one robot arm (4) having at least three degrees of freedom controlled according to a plurality of control axes (A1-A6; X, Y, Z, Rx, Ry, Rz); a control centre (8); a device (6) for controlling the robot arm (4), which includes a plurality of motor controllers (61-66) each controlling the operation of one motor (M1-M6) along one axis, suitable for operating at least one portion of the robot arm (4); and a communication bus (14) between the control centre (8) and the device (6) for controlling the robot arm (4). Said method includes steps that consist of: a) associating with each axis (A1-A6; X, Y, Z, Rx, Ry, Rz) for controlling the movement of the robot arm (4) a controller having an imaginary axis intended for receiving instructions and controlling at least one motor according to said instructions; b) determining, in the control centre (8) and for each axis (A1-A6; X, Y, Z, Rx, Ry, Rz) for ...

Alignment of master and slave in a minimally invasive surgical apparatus

This invention relates to establishing alignment or a desired orientational relationship between a master and a slave of a telerobotic system. The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer is provided. The method includes causing the end effector to remain stationary, determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer and determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer, at which orientation the desired orientational relationship between the hand-held part of the master control and the end effector would be established. The method further includes causing the hand-held part of the master control to be moved into the ...

自動化作業セルを制御するための方法

Method for controlling an automated work cell

The invention relates to a control method applied to an automated work cell which includes at least one robot arm (4) having at least three degrees of freedom controlled according to a plurality of control axes (A1-A6; X, Y, Z, Rx, Ry, Rz); a control centre (8); a device (6) for controlling the robot arm (4), which includes a plurality of motor controllers (61-66) each controlling the operation of one motor (M1-M6), suitable for operating at least one portion of the robot arm (4); and a communication bus (14) between the control centre (8) and the device (6) for controlling the robot arm (4). Said method includes steps that consist of: a) sending instructions (Cri) emitted by the control centre (8) to control the control axes to a single arithmetic unit (10) belonging to the device (6) for controlling the robot (4); b) determining, within the arithmetic unit (10) and according to instructions received from the control centre (8), orders (0^) for each one of the motors controlled by a motor ...

Method for controlling an automated work cell

本发明涉及一种控制自动化工作单元的方法，包括：由多个控制轴(A1至A6；X，Y，Z，Rx，Ry，Rz)控制的具有至少三个自由度的至少一个机器人手臂(4)；控制中心(8)；机器人手臂(4)的控制装置(6)，包括多个电动机控制器(61至66)，控制能够操纵至少部分的机器人手臂(4)的电动机(M1至M6)的运行；用于控制中心(8)和机器人手臂(4)的控制装置之间通信的总线(14)，该方法包括以下步骤：a)将机器人手臂(4)的每个运动控制轴(A1至A6；X，Y，Z，Rx，Ry，Rz)与假设的用于接收指令并根据这些指令来控制至少一个电动机的假想的轴控制器相关联；b)在控制中心(8)为机器人手臂(4)的每个运动控制轴(A1至A6；X，Y，Z，Rx，Ry，Rz)确定用于与这些轴中的每一个对应的假想的轴控制器的指令(C 1i )；c)将在步骤b)中确定的指令(C 1i )传送至属于机器人手臂(4)的控制装置(6)的仅有的一个计算单元(10)。

Method for controlling an automated work cell

The invention relates to a control method applied to an automated work cell which includes at least one robot arm ( 4 ) having at least three degrees of freedom controlled according to a plurality of control axes (A 1 -A 6 ; X, Y, Z, Rx, Ry, Rz); a control centre ( 8 ); a device ( 6 ) for controlling the robot arm ( 4 ), which includes a plurality of motor controllers ( 61 - 66 ) each controlling the operation of one motor (M 1 -M 6 ), suitable for operating at least one portion of the robot arm ( 4 ); and a communication bus ( 14 ) between the control centre ( 8 ) and the device ( 6 ) for controlling the robot arm ( 4 ). Said method includes steps that consist of: a) sending instructions (Cri) emitted by the control centre ( 8 ) to control the control axes to a single arithmetic unit ( 10 ) belonging to the device ( 6 ) for controlling the robot ( 4 ); b) determining, within the arithmetic unit ( 10 ) and according to instructions received from the control centre ( 8 ), orders ( 0 ̂) for each one of the motors controlled by a motor controller; c) sending each motor controller an order, determined in step b), for the motor controlled by said motor controller.

Procedure for controlling an automated work cell

Control procedure of an automated work cell

Method for controlling an automated work cell

Master- und slave-anordnung in einer minimal eingreifenden chirugischen vorrichtung

Master- und slave-anordnung in einer minimal eingreifenden chirugischen vorrichtung

与不同运动学联接的多个端部执行器接口

一种根据本公开的至少一个实施方案的机器人系统包括：机器人臂，该机器人臂包括近侧端部和远侧端部；安装凸缘，该安装凸缘沿着旋转轴线在该远侧端部处旋转地连接到该机器人臂；和端部执行器，该端部执行器经由设置在该安装凸缘与该端部执行器之间的附接接口互连到该安装凸缘。该附接接口将该端部执行器固定地布置在至少两个选择位置中的一个选择位置中。该至少两个选择位置中的第一位置相对于该旋转轴线以第一角度取向该端部执行器的外科手术工具轴线，并且该至少两个选择位置中的第二位置相对于该旋转轴线以第二角度取向该端部执行器的该外科手术工具轴线。该第二角度不同于该第一角度。

Non-holonomic user interface for a robot

An apparatus and method for direct physical interaction between a person and a general purpose manipulator (10) controlled by a computer. The appartus, known as a collaborative robot or 'cobot' (10), may take a number of configurations common to conventional robots. In place of the actuators that move conventional robots, however, cobots use variable transmission elements (20) whose transmission ratio is adjustable under computer control via small servomotors (50). Cobots (10) thus need few if any powerful, potentially dangerous, actuators. Instead, cobots (10) guide, redirect, or steer motions that originate with the person. A method is also disclosed for using the cobot's (10) ability to redirect and steer motion in order to provide physical guidance for the person, and for any payload being moved by the person and the cobot (10). Virtual surfaces, virtual potential fields, and other guidance schemes may be defined in software and brought into physical effect by the cobot (10).