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An Online Trajectory Generator on SE(3) for Human–Robot Collaboration
Published online by Cambridge University Press: 10 December 2019
Summary
With the increasing demand for humans and robots to collaborate in a joint workspace, it is essential that robots react and adapt instantaneously to unforeseen events to ensure safety. Constraining robot dynamics directly on SE(3), that is, the group of 3D translation and rotation, is essential to comply with the emerging Human–Robot Collaboration (HRC) safety standard ISO/TS 15066. We argue that limiting coordinate-independent magnitudes of physical dynamic quantities at the same time allows more intuitive constraint definitions. We present the first real-time capable online trajectory generator that constrains translational and rotational magnitude values of 3D translation and 3D rotation dynamics in a singularity-free formulation. Simulations as well as experiments on a hardware platform show the utility in HRC contexts.
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- Information
- Robotica , Volume 38 , Special Issue 10: Human–Robot Interaction (HRI) , October 2020 , pp. 1756 - 1777
- Creative Commons
- This is an Open Access article, distributed under the terms of the Creative Commons Attribution licence (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted re-use, distribution, and reproduction in any medium, provided the original work is properly cited.
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- Copyright © The Author(s) 2019
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