Manipulator performance constraints in human-robot cooperation

•Virtual constraints for human-robot cooperation with manipulator performance indices.•Spring-like repulsive forces/torques at the end-effector provide real-time feedback.•Finite difference approximation algorithm to calculate any local index.•No need of an analytic expression of the performance ind...

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Bibliographic Details
Published in:	Robotics and computer-integrated manufacturing Vol. 50; pp. 222 - 233
Main Authors:	Dimeas, Fotios, Moulianitis, Vassilis C., Aspragathos, Nikos
Format:	Journal Article
Language:	English
Published:	Oxford Elsevier Ltd 01.04.2018 Elsevier BV
Subjects:	Configuration management Configurations Cooperation Human performance Human-computer interaction Human-robot cooperation Impedance and admittance control Kinematics Manipulator performance measures Manipulators Mathematical analysis Performance constraints Performance indices Robot arms Robots Impedance and admittance control Manipulator performance measures Human-robot cooperation Performance constraints
ISSN:	0736-5845, 1879-2537
Online Access:	Get full text
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