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Title:

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

Document type:
Zeitschriftenaufsatz
Author(s):
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...     »
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
Fulltext / DOI:
doi:10.1017/s0263574719001619
WWW:
https://www.cambridge.org/core/journals/robotica/article/an-online-trajectory-generator-on-se3-for-humanrobot-collaboration/135F75C88B041756069EE9A93358753E
Publisher:
Cambridge University Press (CUP)
E-ISSN:
0263-57471469-8668
Submitted:
30.11.2018
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
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