Abstract
In this study, obstacle avoidance in the collaborative robotics field, where a human operator moves the robot manually through direct contact, is investigated. If an operator is distracted or is not used to control the robot, an accident can happen during operation, which might harm the operator. For the purpose of assisting the human operator in his/her task, the integration of a damping control is proposed. Damping is a coefficient that influences the oscillations of a system. By modifying the damping of the robot, an artificial stiffness is created. The information is transmitted to the user through his/her haptic return, making it easier for him/her to avoid the obstacles in the workspace. In this study, a damping control is developed and implemented. Then, through experimentation, the efficiency of the haptic sense and the general damping control are demonstrated, and thus, an efficient, comfortable, and safe method is formulated for the operator to avoid obstacles during operations.
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Huart, A., Yorozu, A., Takahashi, M. (2022). Introduction of Damping Control for Obstacle Avoidance in Direct-Contact Cobotics Operations. In: Ang Jr, M.H., Asama, H., Lin, W., Foong, S. (eds) Intelligent Autonomous Systems 16. IAS 2021. Lecture Notes in Networks and Systems, vol 412. Springer, Cham. https://doi.org/10.1007/978-3-030-95892-3_39
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