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Safety Awareness for Rigid and Elastic Joint Robots: An Impact Dynamics and Control Framework

Mansfeld, Nico (2022) Safety Awareness for Rigid and Elastic Joint Robots: An Impact Dynamics and Control Framework. Dissertation, TUM.

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Official URL: https://mediatum.ub.tum.de/1633646

Abstract

This thesis aims at making robots with rigid and elastic joints aware of human collision safety. A framework is proposed that captures human injury occurrence and robot inherent safety properties in a unified manner. It allows to quantitatively compare and optimize the safety characteristics of different robot designs and is applied to stationary and mobile manipulators. On the same basis, novel motion control schemes are developed and experimentally validated.

Item URL in elib:https://elib.dlr.de/187706/
Document Type:Thesis (Dissertation)
Additional Information:Arbeit ist auch über die Mediathek der TUM zugänglich: https://mediatum.ub.tum.de/670426?sortfield0=type&sortfield1=-bookseries-volume&style=full_text&show_id=1633646
Title:Safety Awareness for Rigid and Elastic Joint Robots: An Impact Dynamics and Control Framework
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Mansfeld, NicoUNSPECIFIEDhttps://orcid.org/0000-0002-2978-5628UNSPECIFIED
Date:5 July 2022
Refereed publication:Yes
Open Access:Yes
Number of Pages:226
Status:Published
Keywords:MSR Meßtechnik, Steuerungs- und Regelungstechnik, Automation, tactile robots, industrial robots, musculoskeletal properties, Safe Motion Unit, ISO 10218, Collaborative, pHRI, SMU and Safety Map framework
Institution:TUM
Department:Fakultät für Elektrotechnik und Informationstechnik
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Intuitive human-robot interface [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Geyer, Günther
Deposited On:28 Jul 2022 11:28
Last Modified:28 Jul 2022 11:28

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