Model-Based Predictive Impedance Variation for Obstacle Avoidance in Safe Human-Robot Collaboration

Human-robot collaboration (HRC) in manufacturing environments requires that physical safety can be guaranteed. Control methods that implicitly regulate the interaction forces between a controlled robot and its environment, such as impedance control, are often used for safety in HRC. However, these m...

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Veröffentlicht in:	IEEE transactions on automation science and engineering 2024-12, p.1-0
Hauptverfasser:	Ducaju, Julian M. Salt, Olofsson, Bjorn, Johansson, Rolf
Format:	Artikel
Sprache:	eng
Schlagworte:	Aerospace electronics Collaboration Collision avoidance Force Impedance impedance control model predictive control (MPC) Physical human–robot interaction (pHRI) robot safety Robots Safety safety control barrier functions (SCBFs) Salt Service robots Trajectory
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