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Document type:
Zeitschriftenaufsatz 
Author(s):
Huber, Gerold; Wollherr, Dirk 
Title:
An Online Trajectory Generator on SE(3) for Human–Robot Collaboration 
Abstract:
With the increasing demand for humans and robots to collaborate in a joint workspace, it is essential that robots react and adapt instantaneously to unforeseen events to ensure safety. Constraining robot dynamics directly on SE(3), that is, the group of 3D translation and rotation, is essential to comply with the emerging Human–Robot Collaboration (HRC) safety standard ISO/TS 15066. We argue that limiting coordinate-independent magnitudes of physical dynamic quantities at the same time allow...    »
 
Keywords:
Trajectory generation; Control of robotic systems; Motion planning; Human–Robot Collaboration; Human–Robot Interaction; Safety; SE(3); Orientation; Magnus expansion. 
Journal title:
Robotica 
Year:
2019 
Pages contribution:
1-22 
Reviewed:
ja 
Language:
en 
Publisher:
Cambridge University Press (CUP) 
E-ISSN:
0263-57471469-8668 
Accepted:
17.05.2019 
Date of publication:
10.12.2019 
Semester:
WS 19-20 
TUM Institution:
Lehrstuhl für Steuerungs- und Regelungstechnik 
CC license:
by, http://creativecommons.org/licenses/by/4.0