Abstract
This paper presents a method for the online planning of path-consistent stop trajectories for collaborative robotics. The proposed approach considers the manipulator to be enclosed in bounding volumes, whose sizes account for a protecting separation distance and are minimized online considering the robot dynamics and its torque constraints. In case a collision danger between bounding volumes enclosing human and robot is detected, the robot is guided to stop along a safe trajectory that preserves the geometrical path. Simulation results on a validated model of a 7-degree-of-freedom manipulator show the feasibility of the method and provide a more effective human-robot collaboration with respect to a similar approach that does not preserve path consistency during safety stops.
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Scalera, L., Giusti, A., Vidoni, R., Gasparetto, A. (2022). Online Planning of Path-Consistent Stop Trajectories for Collaborative Robotics. In: Niola, V., Gasparetto, A., Quaglia, G., Carbone, G. (eds) Advances in Italian Mechanism Science. IFToMM Italy 2022. Mechanisms and Machine Science, vol 122. Springer, Cham. https://doi.org/10.1007/978-3-031-10776-4_80
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DOI: https://doi.org/10.1007/978-3-031-10776-4_80
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