User: Guest  Login
Document type:
Konferenzbeitrag 
Contribution type:
Textbeitrag / Aufsatz 
Author(s):
M. Kimmel; M. Lawitzky; S. Hirche 
Title:
6D Workspace Constraints for Physical Human-Robot Interaction using Invariance Control with Chattering Reduction 
Pages contribution:
3377--3383 
Abstract:
For safety in physical human-robot interaction (pHRI) the robot motion must be restricted to an admissible (safe) region. In this work, we propose a systematic approach to guarantee the satisfaction of virtual workspace constraints in 6D for arbitrary manipulator dynamics based on an extended invariance control concept. Invariance control yields a computationally efficient method to render multiple virtual nonlinear workspace boundaries. In order to make the scheme suitable for pHRI we present a...    »
 
Book / Congress title:
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 
Year:
2012 
Quarter:
4. Quartal 
Year / month:
2012-10 
Month:
Oct 
Reviewed:
ja 
Language:
en 
Notes:
Best Student Paper Award Finalist, Best Application Paper Finalist 
Semester:
WS 12-13