Maximum Isotropic Force Capability Maps in Planar Cooperative Systems: A Practical Case Study

Pineda, Juan Camilo Herrera; Rincon, Leonardo Mejia; Simoni, Roberto; Simas, Henrique

doi:10.1007/978-3-319-67567-1_15

Cited by 1 publication

(4 citation statements)

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“…The robot motion is sampled in 1000 equidistant time-instants, and at every sampling instant, Algorithm 1 is executed. The simulation environment, over the robot, includes two human arms identified as Human-arm 1 and Human-arm 2, composed of two links and located in the space by three points named shoulder, elbow, and hand, thus improving the experiments presented in [48], where only one arm is used. The links shoulder-elbow and elbow-hand have lengths [49] of 319.6 mm and 246.5 mm with angle displacement defined with respect to the x b -axis.…”

Section: Graphical Resultsmentioning

confidence: 99%

“…Additionally, in the presented simulation, the available degree of redundancy is 1, and it is strictly sufficient to solve the collision-avoidance problem without including the joint limits control, as was achieved in other papers [15,20,48,[51][52][53] where the introduced redundancy was exploited by optimization procedures to find the best α that avoids reaching joint-position limits. The possible involvement of joint-position limits' control, over collision avoidance, in programming trajectories and kinematic algorithms solely depends on the availability of redundancy degrees higher than one, which, if available, can be exploited by implementing one of the strategies proposed in the literature, even with the proposed algorithm.…”

Section: Discussionmentioning

confidence: 95%

“…Additionally, in the presented simulation, the available degree of redundancy is 1, and it is strictly sufficient to solve the collision-avoidance problem without including the joint limits control, as was achieved in other papers [15,20,48,[51][52][53] where the introduced redundancy was exploited by optimization procedures to find the best α that avoids The angle α f smooths the resultant distances between the robot and the collision point. Figure 14 shows the behavior of the distance between the SRS-type robot and the collision point (red) along the simulation, compared with the distances when under imminent collision (blue).…”

Section: Discussionmentioning

confidence: 96%

“…The presented inverse kinematics, which solves the α angle for the four quadrants, is based on review propositions [8,39,48] and refines them, thus improving the formulation.…”

Section: Discussionmentioning

confidence: 99%

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Collision Avoidance for Redundant 7-DOF Robots Using a Critically Damped Dynamic Approach

Simas

Gregorio

2022

Robotics

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The presence of collaborative robots in industrial environments requires that their control strategies include collision avoidance in the generation of trajectories. In general, collision avoidance is performed via additional displacements of the kinematic chain that make the robot move far from the objects that are occasionally inserted into its safety workspace. The variability of the coordinates of the collision points inside the safety volume leads to abrupt movements for the robot. This paper presents a general method for smoothing abrupt movements in robots with one degree of redundancy for collision-avoidance trajectories, employing a second-order digital filter designed with adjustable critical damping. The method is illustrated by applying it to a redundant robot with a spherical–revolute–spherical type (SRS-type) kinematic chain, which is a benchmark used to test the algorithms ideated for solving this problem. This paper also presents an alternative algorithm for the inverse kinematics of the SRS-type robot and the computational experiments that show the collision avoidance proposal’s performance and its properties through graphical results.

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Section: Graphical Resultsmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 95%

“…Additionally, in the presented simulation, the available degree of redundancy is 1, and it is strictly sufficient to solve the collision-avoidance problem without including the joint limits control, as was achieved in other papers [15,20,48,[51][52][53] where the introduced redundancy was exploited by optimization procedures to find the best α that avoids The angle α f smooths the resultant distances between the robot and the collision point. Figure 14 shows the behavior of the distance between the SRS-type robot and the collision point (red) along the simulation, compared with the distances when under imminent collision (blue).…”

Section: Discussionmentioning

confidence: 96%

“…The presented inverse kinematics, which solves the α angle for the four quadrants, is based on review propositions [8,39,48] and refines them, thus improving the formulation.…”

Section: Discussionmentioning

confidence: 99%

See 2 more Smart Citations