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dc.contributor.authorMaaroof, Omar Waleed Najm
dc.contributor.authorDede, Mehmet İsmet Can
dc.date.accessioned2018-11-30T12:04:59Z
dc.date.available2018-11-30T12:04:59Z
dc.date.issued2016
dc.identifier.citationMaaroof 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_37en_US
dc.identifier.issn0254-1971
dc.identifier.urihttps://doi.org/10.1007/978-3-319-33714-2_37
dc.identifier.urihttp://hdl.handle.net/11147/7027
dc.description.abstractTo 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.en_US
dc.description.sponsorshipThe Scientific and Technological Research Council of Turkey via grant number 115E726en_US
dc.language.isoengen_US
dc.publisherSpringeren_US
dc.relationinfo:eu-repo/grantAgreement/TUBITAK/EEEAG/115E726en_US
dc.relation.isversionof10.1007/978-3-319-33714-2_37en_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectImpact forceen_US
dc.subjectJoint velocityen_US
dc.subjectNull spaceen_US
dc.subjectRedundant manipulatoren_US
dc.subjectRobot manipulatoren_US
dc.titlePhysical human-robot interaction: Increasing safety by robot arm’s posture optimizationen_US
dc.typebookParten_US
dc.typesubmittedVersion
dc.contributor.authorIDTR26957en_US
dc.contributor.institutionauthorMaaroof, Omar Waleed Najm
dc.contributor.institutionauthorDede, Mehmet İsmet Can
dc.relation.journalROMANSY 21 - Robot Design, Dynamics and Controlen_US
dc.contributor.departmentIzmir Institute of Technology. Mechanical Engineeringen_US
dc.identifier.volume569en_US
dc.identifier.startpage329en_US
dc.identifier.endpage337en_US
dc.identifier.scopusSCOPUS:2-s2.0-85041375009
dc.relation.publicationcategoryKitap Bölümü - Uluslararasıen_US


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