Abstract
This study focuses on the problem of robot interaction with a dynamically changing environment. Particular attention is paid to the problem of human collaboration with industrial robot in a shared common workspace. The paper identifies collisions and provides algorithms for different scenarios of obstacle avoidance, considering the nature of interaction and contact point location. The developed mathematical framework is based on the neural network classification and finite state machine, followed by appropriate collision reaction/avoidance algorithms. The advantages of the developed approach were demonstrated by an experimental study dealing with Kuka LBR IIWA 14 robot interaction with a human and dynamic environment.
Sign-in/Register to access full text options 
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 callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
