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This paper proposes a co-worker in-time Parts/tools Delivery to You robot, PaDY, in an automobile assembly line. Since co-worker robots share a workspace, the workers are at risk of colliding with them. Therefore, the safety of the workers has to be considered when operating such robots. In previous studies, the robot generally stops to ensure the worker's safety when a collision is detected, delaying...
This paper proposed a novel control frame to deal with the human following issue of an omnidirectional mobile robot. The control input is calculated based on the prediction of human motion. The prediction of human motion is performed by means of a hybrid kinematics model. This model describes the different phases in the human walking. A nonlinear model predictive control(NMPC) is used to construct...
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