Toward safe and high-performance human–robot collaboration via implementation of redundancy and understanding the effects of admittance term parameters
Abstract
Summary Today, demandsin industrial manufacturing mandate humans to work with large-scale industrial robots, and this collaboration may result in dangerous conditions for humans. To deal with this situation, this work proposes a novel approach for redundant large-scale industrial robots. In the proposed approach, an admittance controller is designed to regulate the interaction between the end effector of the robot and the human. Additionally, an...
Paper Details
Title
Toward safe and high-performance human–robot collaboration via implementation of redundancy and understanding the effects of admittance term parameters
Published Date
Nov 15, 2021
Journal
Volume
40
Issue
7
Pages
2112 - 2127
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