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Titel:

6D Workspace Constraints for Physical Human-Robot Interaction using Invariance Control with Chattering Reduction

Dokumenttyp:
Konferenzbeitrag
Art des Konferenzbeitrags:
Textbeitrag / Aufsatz
Autor(en):
M. Kimmel; M. Lawitzky; S. Hirche
Seitenangaben Beitrag:
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...     »
Kongress- / Buchtitel:
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Jahr:
2012
Quartal:
4. Quartal
Jahr / Monat:
2012-10
Monat:
Oct
Reviewed:
ja
Sprache:
en
Volltext / DOI:
doi:10.1109/IROS.2012.6385906
Hinweise:
Best Student Paper Award Finalist, Best Application Paper Finalist
Semester:
WS 12-13
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