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Titel:

An Online Trajectory Generator on SE(3) for Human–Robot Collaboration

Dokumenttyp:
Zeitschriftenaufsatz
Autor(en):
Huber, Gerold; Wollherr, Dirk
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...     »
Stichworte:
Trajectory generation; Control of robotic systems; Motion planning; Human–Robot Collaboration; Human–Robot Interaction; Safety; SE(3); Orientation; Magnus expansion.
Zeitschriftentitel:
Robotica
Jahr:
2019
Seitenangaben Beitrag:
1-22
Reviewed:
ja
Sprache:
en
Volltext / DOI:
doi:10.1017/s0263574719001619
WWW:
https://www.cambridge.org/core/journals/robotica/article/an-online-trajectory-generator-on-se3-for-humanrobot-collaboration/135F75C88B041756069EE9A93358753E
Verlag / Institution:
Cambridge University Press (CUP)
E-ISSN:
0263-57471469-8668
Eingereicht (bei Zeitschrift):
30.11.2018
Angenommen (von Zeitschrift):
17.05.2019
Publikationsdatum:
10.12.2019
Semester:
WS 19-20
TUM Einrichtung:
Lehrstuhl für Steuerungs- und Regelungstechnik
CC-Lizenz:
by, http://creativecommons.org/licenses/by/4.0
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