2023
DOI: 10.48550/arxiv.2302.03587
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Design of an Energy-Aware Cartesian Impedance Controller for Collaborative Disassembly

Abstract: Human-robot collaborative disassembly is an emerging trend in the sustainable recycling process of electronic and mechanical products. It requires the use of advanced technologies to assist workers in repetitive physical tasks and deal with creaky and potentially damaged components. Nevertheless, when disassembling worn-out or damaged components, unexpected robot behaviors may emerge, so harmless and symbiotic physical interaction with humans and the environment becomes paramount. This work addresses this chal… Show more

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