Publication at Faculty of Arts |
2019
Abstract
The use of phase-based controller in human-robot collaboration scenarios. Two principal approaches are developed-Impulse Orb and Prognosis Window-that dynamically determine the possible robot-induced collisions and apply a novel velocity modulating approach, in which the phase progress of the robot trajectory is modulated while the desired robot path remains intact.
The methods guarantee that the robot will halt before contacting the human, but they are less conservative and more flexible than solutions using reduced speed and complete stop only, thereby increasing the effectiveness of human-robot collaboration.