Abstract
The collaboration between humans and robots offers opportunities that are not achievable separately. However, a strategy for collaboration is required, as they differ in their behavior and perception. This work-in-progress paper outlines future research activities in this field, focusing on the integration of collision avoidance into robot movements. Therefore, trajectory planning is formulated as an optimization problem, which considers the human being but also finds the optimal trajectory according to a certain criterion. This reduces the cycle time or the energy required to drive the robot. The description as a multibody system enables a digital twin allowing planning in advance, but also the possibility of real-time control. This creates the basis for trust in the collaboration.
Original language | English (American) |
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Title of host publication | 2024 IEEE 29th International Conference on Emerging Technologies and Factory Automation, ETFA 2024 |
Editors | Tullio Facchinetti, Angelo Cenedese, Lucia Lo Bello, Stefano Vitturi, Thilo Sauter, Federico Tramarin |
Publisher | IEEE |
Number of pages | 4 |
ISBN (Electronic) | 9798350361230 |
DOIs | |
Publication status | Published - 2024 |
Event | 2024 IEEE 29th International Conference on Emerging Technologies and Factory Automation (ETFA) - University of Padua, Padua, Italy Duration: 10 Sept 2024 → 13 Sept 2024 https://2024.ieee-etfa.org/ |
Publication series
Name | IEEE International Conference on Emerging Technologies and Factory Automation, ETFA |
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ISSN (Print) | 1946-0740 |
ISSN (Electronic) | 1946-0759 |
Conference
Conference | 2024 IEEE 29th International Conference on Emerging Technologies and Factory Automation (ETFA) |
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Abbreviated title | ETFA |
Country/Territory | Italy |
City | Padua |
Period | 10.09.2024 → 13.09.2024 |
Internet address |
Keywords
- Human-robot collaboration
- Trajectory Planning
- Adjoint method
- Trajectory planning