Toward safe and high-performance human–robot collaboration via implementation of redundancy and understanding the effects of admittance term parameters

Today, demandsin industrial manufacturing mandate humans to work with large-scale industrial robots, and this collaboration may result in dangerous conditions for humans. To deal with this situation, this work proposes a novel approach for redundant large-scale industrial robots. In the proposed app...

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Bibliographic Details
Published in:	Robotica Vol. 40; no. 7; pp. 2112 - 2127
Main Authors:	Kanık, Mert, Ayit, Orhan, Dede, Mehmet Ismet Can, Tatlicioglu, Enver
Format:	Journal Article
Language:	English
Published:	Cambridge, UK Cambridge University Press 01.07.2022
Subjects:	Algorithms Collaboration Collision avoidance Control systems design Controllers Electrical impedance End effectors Human performance Industrial robots Obstacle avoidance Parameters Redundancy Robots obstacle avoidance admittance control collaborative robot redundancy resolution human–robot interaction
ISSN:	0263-5747, 1469-8668
Online Access:	Get full text
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