Control of Force Impulse in Human-Machine Impact

Benedictis, Carlo De; Franco, Walter; Maffiodo, Daniela; Ferraresi, Carlo

doi:10.1007/978-3-319-61276-8_102

Cited by 3 publications

(2 citation statements)

References 21 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Using a second admittance controller, this force was used to extend or lower the robot's end-effector. The authors that employed this controller approached the mobile robot helper's base to perform the cooperative carrying of a load [52,53]. The authors of [54,55] also used a lifting controller with cascaded second-order virtual admittance controllers applied to the same applications.…”

Section: Impedance Control Strategymentioning

confidence: 99%

Control System Design and Methods for Collaborative Robots: Review

et al. 2023

View full text Add to dashboard Cite

Collaborative robots cooperate with humans to assist them in undertaking simple-to-complex tasks in several fields, including industry, education, agriculture, healthcare services, security, and space exploration. These robots play a vital role in the revolution of Industry 4.0, which defines new standards of manufacturing and the organization of products in the industry. Incorporating collaborative robots in the workspace improves efficiency, but it also introduces several safety risks. Effective safety measures then become indispensable to ensure safe and robust interaction. This paper presents the review of low-level control methodologies of a collaborative robot to assess the current status of human–robot collaboration over the last decade. First, we discuss the classification of human–robot collaboration, architectures of systems and the complex requirements on control strategies. The most commonly used control approaches were presented and discussed. Several methods of control, reported in industrial applications, are elaborated upon with a prime focus on HR-collaborative assembly operations. Since the physical HRC is a critical control problem for the co-manipulation task, this article identifies key control challenges such as the prediction of human intentions, safety, and human-caused disturbances in motion synchronization; the proposed solutions were analyzed afterwards. The discussion at the end of the paper summarizes the features of the control systems that should be incorporated within the systematic framework to allow the execution of a robotic task from global task planning to low-level control implementation for safe and robust interactions.

show abstract

Section: Impedance Control Strategymentioning

confidence: 99%

Control System Design and Methods for Collaborative Robots: Review

et al. 2023

View full text Add to dashboard Cite

show abstract

“…The proposed method was implemented and tested using a robotic manipulator and a force sensor. The results showed that the proposed strategy effectively regulated the force impulse during impact, leading to improved safety during human-robot interactions [22].…”

Section: Contact Detection and Mitigationmentioning

confidence: 99%

Advances and perspectives in collaborative robotics: a review of key technologies and emerging trends

Patil,

Vasu,

Srinadh

2023

Discov Mechanical Engineering

View full text Add to dashboard Cite

This review paper provides a literature survey of collaborative robots, or cobots, and their use in various industries. Cobots have gained popularity due to their ability to work with humans in a safe manner. The paper covers different aspects of cobots, including their design, control strategies, safety features, and human–robot interaction. The paper starts with a brief history and evolution of cobots, followed by a review of different control strategies and Safety features such as collision detection and avoidance, and safety-rated sensors are also examined. Further to this, a systematic review of Ergonomics is also taken into account. Additionally, the paper explores the challenges and opportunities presented by cobot’s technology, including the need for standards and regulations, the impact on employment, and the potential benefits to industry. The latest research in human–robot interaction is also discussed. Finally, the paper highlights current limitations of cobot’s technology and the need for further research to address technical and ethical challenges. This synthesis document is an invaluable resource for both academics and professionals interested while developing and application of cobot’s technology.

show abstract