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Integration of active and passive compliance control for safe human-robot coexistence
2009 IEEE International Conference on Robotics and Automation
In this paper we discuss the integration of active and passive approaches to robotic safety in an overall scheme for real-time manipulator control. The active control approach is based on the use of a supervisory visual system, which detects the presence and position of humans in the vicinity of the robot arm, and generates motion references. The passive control approach uses variable joint impedance which combines with velocity control to guarantee safety in worst-case conditions, i.e.doi:10.1109/robot.2009.5152571 dblp:conf/icra/SchiaviBF09 fatcat:nosakujr2ra4ddz3kudjx3aoda