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Document type:
Masterarbeit 
Author(s):
Fabian Hirt 
Title:
Safe robot compliance strategies in potential human clamping situations 
Translated title:
Safe robot compliance strategies in potential human clamping situations 
Abstract:
When human and collaborative robots share their workspace, they manipulate objects together, exchange forces and they might even be in direct physical contact. In this context, the safety of human coworkers becomes a crucial aspect that classical collision avoidance cannot guarantee. This thesis introduces new concepts to minimize the potential physical harm that a robot can cause in quasi-static manipulations, especially in clamping situations. Using anthropometric data, as well as a pr...    »
 
Translated abstract:
When human and collaborative robots share their workspace, they manipulate objects together, exchange forces and they might even be in direct physical contact. In this context, the safety of human coworkers becomes a crucial aspect that classical collision avoidance cannot guarantee. This thesis introduces new concepts to minimize the potential physical harm that a cobot can cause in quasi-static manipulations, especially in clamping situations. Using anthropometric data, as well as a pr...    »
 
Subject:
ELT Elektrotechnik; FER Fertigungstechnik 
DDC:
000 Informatik, Wissen, Systeme; 620 Ingenieurwissenschaften 
Advisor:
Saveriano, Matteo; Wafik, Ahmed 
Referee:
Lee, Dongheui (Prof. Dr.) 
Year:
2018 
Language:
en 
Language from translation:
en 
University:
Technische Universität München 
Faculty:
Fakultät für Elektrotechnik und Informationstechnik