Inverse Uncertain-Dynamics of Robot Manipulators Using Interval Arithmetic

Giusti, Andrea; Nainer, Carlo

doi:10.1007/978-3-031-10776-4_76

Cited by 2 publications

(1 citation statement)

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“…In this work, the dynamic model parameters of the robot are considered to be known. However, in case of imperfect knowledge of the robot dynamics, an approach based on interval arithmetic can be adopted to ensure compliance with the joint torques‘ limits [33, 34].…”

Section: Robot-stopping Approachesmentioning

confidence: 99%

An experimental evaluation of robot-stopping approaches for improving fluency in collaborative robotics

Scalera,

Lozer,

Giusti

et al. 2024

Robotica

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This paper explores and experimentally compares the effectiveness of robot-stopping approaches based on the speed and separation monitoring for improving fluency in collaborative robotics. In the compared approaches, a supervisory controller checks the distance between the bounding volumes enclosing human operator and robot and prevents potential collisions by determining the robot’s stop time and triggering a stop trajectory if necessary. The methods are tested on a Franka Emika robot with 7 degrees of freedom, involving 27 volunteer participants, who are asked to walk along assigned paths to cyclically intrude the robot workspace, while the manipulator is working. The experimental results show that scaling online the dynamic safety zones is beneficial for improving fluency of human-robot collaboration, showing significant statistical differences with respect to alternative approaches.

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Section: Robot-stopping Approachesmentioning

confidence: 99%