Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/7027
Title: Physical human-robot interaction: Increasing safety by robot arm’s posture optimization
Authors: Maaroof, Omar Waleed Najm
Dede, Mehmet İsmet Can
Maaroof, Omar Waleed Najm
Dede, Mehmet İsmet Can
Izmir Institute of Technology. Mechanical Engineering
Keywords: Impact force
Joint velocity
Null space
Redundant manipulator
Robot manipulator
Issue Date: 2016
Publisher: Springer Verlag
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.
URI: https://doi.org/10.1007/978-3-319-33714-2_37
http://hdl.handle.net/11147/7027
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

Files in This Item:
File Description SizeFormat 
7027.pdfBook Part219.11 kBAdobe PDFThumbnail
View/Open
Show full item record

CORE Recommender

SCOPUSTM   
Citations

1
checked on Sep 25, 2021

WEB OF SCIENCETM
Citations

1
checked on Sep 25, 2021

Page view(s)

18
checked on Sep 26, 2021

Download(s)

18
checked on Sep 26, 2021

Google ScholarTM

Check

Altmetric


Items in GCRIS Repository are protected by copyright, with all rights reserved, unless otherwise indicated.