2024
DOI: 10.1007/s10846-024-02146-8
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Experimental Assessment of a Vision-Based Obstacle Avoidance Strategy for Robot Manipulators: Off-line Trajectory Planning and On-line Motion Control

Cecilia Scoccia,
Barnaba Ubezio,
Giacomo Palmieri
et al.

Abstract: Human-Robot Interaction is an increasingly important topic in both research and industry fields. Since human safety must be always guaranteed and accidental contact with the operator avoided, it is necessary to investigate real-time obstacle avoidance strategies. The transfer from simulation environments, where algorithms are tested, to the real world is challenging from different points of view, e.g., the continuous tracking of the obstacle and the configuration of different manipulators. In this paper, the a… Show more

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