Optimal Collision-Free Robot Trajectory Generation Based on Time Series Prediction of Human Motion

In this letter, we propose that the joint motion of a human worker doing repetitive work could be predicted using a time series model. With a motion capture system, the elbow joint rotation data are collected and used to fit an autoregressive model. An online parameter adaptation algorithm is employed to update model parameters in real time. A safety index with a distance factor is defined to describe the level of safety during physical...