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Title: Physical human-robot interaction: Increasing safety by robot arm’s posture optimization
Authors: Maaroof, Omar Waleed Najm
Dede, Mehmet İsmet Can
Keywords: Impact force
Joint velocity
Null space
Redundant manipulator
Robot manipulator
Issue Date: 2016
Publisher: Springer
Source: Maaroof O.W.N., and Dede M.İ.C. (2016). Physical human-robot interaction: Increasing safety by robot arm’s posture optimization. In Parenti-Castelli V., Schiehlen W. (Eds.), ROMANSY 21 - Robot Design, Dynamics and Control, (pp. 329-337). Cham: Springer. doi:10.1007/978-3-319-33714-2_37
Abstract: To have robot manipulators working alongside with humans is a necessity in service robots. Obviously, in these robotics applications, human safety has precedence over precision and repeatability, which are the most important qualification of the conventional industrial manipulators. The safety measures can be taken either in the hardware or in the software or in both. This work by using a redundant manipulator aims at providing a safety measure through controlling the self-motion of the manipulator. The self-motion of the manipulator is controlled to change the posture of the manipulator to minimize or maximize the forces it can exert along a given direction. In this way, by knowing the location of the human or a delicate piece that it should not harm, manipulator’s posture is optimized to exert the minimum amount of forces during an unexpected collision. The control algorithm for this objective is described in this paper and it is evaluated through simulation tests on a redundant lightweight robot manipulator.
ISSN: 0254-1971
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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