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New paradigms in industrial robotics no longer require physical separation between robotic manipulators and humans. Moreover, in order to optimize production, humans and robots are expected to collaborate to some extent. In this scenario, involving a shared environment between humans and robots, common motion generation algorithms might turn out to be inadequate for this purpose.
Introduction of robots into manual assembly lines to assist human workers or introduction of human into robot-based manufacturing attracts more and more attention in academy and industry. This interest stems from the insight that the integration of robots into manual assembly lines or vice versa may increase productivity by combining the abilities of machines with those of humans. To uphold productivity...
In mixed human-robot environments safety and productivity are two important factors for the design of robotic collaborative behaviors. The collaborative behavior should be able to uphold productivity as far as possible while respecting safety constraints for varying collaboration modes and evaluation criteria. In this paper, a concept of using a finite state automaton for structuring the collaborative...
One of the fundamental problems in the field of robotic motion planning is to safely and efficiently drive the end effector of a robotic manipulator to a specified goal position. Here, safety refers to the requirement that the robotic manipulator must have no collision with surrounding obstacles, and efficiency requires that some predefined cost function is minimized. In addition, kinematic and dynamic...
A control scheme for efficient and safe path and motion planning of industrial robots is proposed. For motion planning of robotic manipulators, an offline method is developed which generates feasible trajectories of the joints such that a given performance criterion is maximized. The planning problem considering obstacle avoidance is converted to an optimization problem with interior points for the...
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