This thesis aims at making robots with rigid and elastic joints aware of human collision safety. A framework is proposed that captures human injury occurrence and robot inherent safety properties in a unified manner. It allows to quantitatively compare and optimize the safety characteristics of different robot designs and is applied to stationary and mobile manipulators. On the same basis, novel motion control schemes are developed and experimentally validated.
Safety Awareness for Rigid and Elastic Joint Robots: An Impact Dynamics and Control Framework
2022-07-05
Miscellaneous
Electronic Resource
English
Safety Awareness for Rigid and Elastic Joint Robots: An Impact Dynamics and Control Framework
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