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Minimizing the effective robot mass in human-robot collisions by exploiting redundancy

Djellab, Badis (2015) Minimizing the effective robot mass in human-robot collisions by exploiting redundancy. DLR-Interner Bericht. 572-2015/23. Master's. Université Pierre & Marie Curie. 44 S.

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Enabling safe human-robots interactions is an essential goal in nowadays robotics research because modern light-weight robots allow direct physical contact. In recent years, many studies were conducted to evaluate human safety during collisions with a robot. In the experiments, the robot velocity, contact geometry and effective robot mass were found to be the key parameters that affect human injury severity. For improving collision safety, these parameters may be varied reasonably. The velocity may e.g. be lowered to a safe value by control and blunt surfaces may be chosen instead of sharp geometries. In terms of mass, one can modify the mechanical structure of the robot on the one hand. On the other hand, the robot pose has influence on the robot mass perceived by the human as well. In this thesis, the robot pose is optimized such that the effective robot mass is minimized while following a nominal trajectory. This is done by exploiting the robot’s redundant degrees of freedom. Online and offline algorithms are proposed to minimize the effective mass. Using a model of the DLR Light-Weight Robot III, the methods are tested in simulation and compared to each other.

Item URL in elib:https://elib.dlr.de/101412/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Minimizing the effective robot mass in human-robot collisions by exploiting redundancy
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Djellab, BadisUniversité Pierre & Marie CurieUNSPECIFIEDUNSPECIFIED
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:44
Keywords:Safety, Human-Robot Interaction, Redundancy Resolution, Control
Institution:Université Pierre & Marie Curie
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Terrestrial Assistance Robotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Mansfeld, Nico
Deposited On:13 Jan 2016 11:23
Last Modified:13 Jan 2016 11:23

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