Real-time constraint-based planning and control of robotic manipulators for safe human-robot collaboration Vrije Universiteit Brussel
A recent trend in industrial robotics is to have robotic manipulators working side-by-side with human operators. A challenging aspect of this coexistence is that the robot is required to reliably solve complex path-planning problems in a dynamically changing environment. To ensure the safety of the human operator while simultaneously achieving efficient task realization, this paper introduces a computationally efficient planning and control ...