An Online Trajectory Generator on SE(3) for Human–Robot Collaboration

Huber, Gerold; Wollherr, Dirk

doi:10.1017/s0263574719001619

Cited by 8 publications

(7 citation statements)

References 26 publications

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“…The computational advantage of our strategy, as seen in Figure 5, allows the computation of such a map with, e.g., a resolution of 100 steps in both parameters, s and λ, in under 5 ms. In combination with an online trajectory generator directly on SE(3), e.g., [50], this qualifies our task space manipulability approach to be used for predictive online manipulability optimization, e.g., with a receding horizon.…”

Section: Optimizing Null Space Solution Of Given End-effector Trajectorymentioning

confidence: 88%

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Efficient Closed-Form Task Space Manipulability for a 7-DOF Serial Robot

Huber

Wollherr

2019

Robotics

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With the increasing demand for robots to react and adapt to unforeseen events, it is essential that a robot preserves agility at all times. While manipulability is a common measure to quantify agility at a given joint configuration, an efficient direct evaluation in task space is usually not possible with conventional methods, especially for redundant robots with an infinite number of Inverse Kinematic solutions. Yet, this is essential for global online optimization of a robot posture. In this work, we derive analytical expressions for a conventional 7-degrees of freedom (7-DOF) serial robot structure, which enable the direct evaluation of manipulability from a reduced task space parametrization. The resulting expressions allow array operation and thus achieve very high computational efficiency with vector-optimized programming languages. This direct and simultaneous calculation of the task space manipulability for large numbers of poses benefits many optimization problems in robotic applications. We show applications in global optimization of robot mounting poses, as well as redundancy resolution with global online optimization w.r.t. manipulability.

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Section: Optimizing Null Space Solution Of Given End-effector Trajectorymentioning

confidence: 88%

“…related to shoulder and wrist joints. The full intersection set A, as defined in (50), may consist of several separate regions. Directly evaluating all critical values of λ is especially interesting whenever planning a continuous path in task space.…”

Section: Null Space Parameter λmentioning

confidence: 99%

Efficient Closed-Form Task Space Manipulability for a 7-DOF Serial Robot

Huber

Wollherr

2019

Robotics

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“…Hassan et al [36] review the application of neural networks to finding constrained-optimal solutions of redundant inverse kinematic problems. Arguing that such methods are much too computationally intensive for limiting both velocity and acceleration during real-time path updates, Huber and Wollherr [37] apply such constraints to a power-series expansion of the forward kinematic transformation of combined translation and rotation in 3D Euclidian space (SE3). The rotation portion is conducted by the Magnus expansion, which is related to the Baker-Campbell-Hausdorff (B-C-H) expansion [38].…”

Section: Prior Methodsmentioning

confidence: 99%

Optimal path crossing the orientation exclusion zone of a robot with offset wrist

Milenkovic

2021

Robotica

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An unexpected path reversal is discovered for a serial robot with an offset-axis wrist over a finite range of proximity to the wrist singularity. This is replicated by a kinematic model. A prior spherical-wrist method transits the singularity with limited joint rate and acceleration under a constant rate of tool traversal. Accurate position is maintained by controlling a small deviation in orientation. Extensions to the method for an offset wrist (1) find the least-maximum deviation, (2) identify and locate where a path reversal occurs, and (3) use this point to control step size in a high-order predictor-correction path following procedure.

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“…Keeping a predefined distance between the robot and the human is a safety measurement that will, in all motions, interfere with the robot's path planning. Different types of sensors and several strategies have been adopted to avoid potential collisions by jointly considering aspects of human monitoring and motion planning [44][45][46][47][48][49][50][51][52][53][54][55][56][57][58]. When it comes to physical humanrobot interaction (pHRI), ref.…”

Section: Safety In Hrcmentioning

confidence: 99%

Trends of Human-Robot Collaboration in Industry Contexts: Handover, Learning, and Metrics

Castro

Silva

Santos

2021

Sensors

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Repetitive industrial tasks can be easily performed by traditional robotic systems. However, many other works require cognitive knowledge that only humans can provide. Human-Robot Collaboration (HRC) emerges as an ideal concept of co-working between a human operator and a robot, representing one of the most significant subjects for human-life improvement.The ultimate goal is to achieve physical interaction, where handing over an object plays a crucial role for an effective task accomplishment. Considerable research work had been developed in this particular field in recent years, where several solutions were already proposed. Nonetheless, some particular issues regarding Human-Robot Collaboration still hold an open path to truly important research improvements. This paper provides a literature overview, defining the HRC concept, enumerating the distinct human-robot communication channels, and discussing the physical interaction that this collaboration entails. Moreover, future challenges for a natural and intuitive collaboration are exposed: the machine must behave like a human especially in the pre-grasping/grasping phases and the handover procedure should be fluent and bidirectional, for an articulated function development. These are the focus of the near future investigation aiming to shed light on the complex combination of predictive and reactive control mechanisms promoting coordination and understanding. Following recent progress in artificial intelligence, learning exploration stand as the key element to allow the generation of coordinated actions and their shaping by experience.

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An Online Trajectory Generator on SE(3) for Human–Robot Collaboration

Cited by 8 publications

References 26 publications

Efficient Closed-Form Task Space Manipulability for a 7-DOF Serial Robot

Efficient Closed-Form Task Space Manipulability for a 7-DOF Serial Robot

Optimal path crossing the orientation exclusion zone of a robot with offset wrist

Trends of Human-Robot Collaboration in Industry Contexts: Handover, Learning, and Metrics

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