Abstract
The performance of task-space tracking control of kinematically redundant robots regulating self-motion to ensure obstacle avoidance is studied and discussed. As the sub-task objective, the links of the kinematically redundant assistive robot should avoid any collisions with the patient that is being assisted. The shortcomings of the obstacle avoidance algorithms are discussed and a new obstacle avoidance algorithm is proposed. The performance of the proposed algorithm is validated with tests that were carried out using the virtual model of a seven degrees-of-freedom robot arm. The test results indicate that the developed controller for the robot manipulator is successful in both accomplishing the main-task and the sub-task objectives.
Highlights
An exciting subset of service robotics research focuses on assistive robotics, resulting in several different roboticSafety has been a significant concern during the develop‐ ment of service robots in each step of design iteratively to identify and assess the potential hazards
Since the most critical hazard can result from the collision of the robot arm with the user, the user area is usually separated from the robot workspace and, sometimes, it is monitored via two laser scanners, as it was done in the FRIEND system [1]
A new obstacle avoidance objective function is designed that utilizes the self-motion of a redundant robot to avoid contact with obstacles within its workspace
Summary
An exciting subset of service robotics research focuses on assistive robotics, resulting in several different roboticSafety has been a significant concern during the develop‐ ment of service robots in each step of design iteratively to identify and assess the potential hazards. In the complexity of a Human-Robot Interaction system (HRI), the physical viewpoint is mainly focused on the risks of collisions occurring between the robot arm and its user or, in this case, the patient. In such a scenario, the robot may cause serious harm or adverse effects to humans [3]. Since the most critical hazard can result from the collision of the robot arm with the user, the user area is usually separated from the robot workspace and, sometimes, it is monitored via two laser scanners, as it was done in the FRIEND system [1]. One possible approach is to reduce the power supply of the robot arm to provide safe operation near the user and minimize the transfer of energy/power to the user
Sign-in/Register to view highlights & summary 
Published Version (
Free)
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call