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An Online Trajectory Generator on SE(3) for Human–Robot Collaboration

Published online by Cambridge University Press:  10 December 2019

Gerold Huber Open the ORCID record for Gerold Huber [Opens in a new window]  and
Dirk Wollherr Open the ORCID record for Dirk Wollherr [Opens in a new window]
Gerold Huber*
Affiliation:
Chair of Automatic Control Engineering (LSR), Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany E-mail: dw@tum.de
Dirk Wollherr
Affiliation:
Chair of Automatic Control Engineering (LSR), Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany E-mail: dw@tum.de
*
*Corresponding author. E-mail: gerold.huber@tum.de
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Summary

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With the increasing demand for humans and robots to collaborate in a joint workspace, it is essential that robots react and adapt instantaneously to unforeseen events to ensure safety. Constraining robot dynamics directly on SE(3), that is, the group of 3D translation and rotation, is essential to comply with the emerging Human–Robot Collaboration (HRC) safety standard ISO/TS 15066. We argue that limiting coordinate-independent magnitudes of physical dynamic quantities at the same time allows more intuitive constraint definitions. We present the first real-time capable online trajectory generator that constrains translational and rotational magnitude values of 3D translation and 3D rotation dynamics in a singularity-free formulation. Simulations as well as experiments on a hardware platform show the utility in HRC contexts.

Keywords

Trajectory generationControl of robotic systemsMotion planningHuman–Robot CollaborationHuman–Robot InteractionSafetySE(3)OrientationMagnus expansion
Type
Articles
Information
Robotica , Volume 38 , Special Issue 10: Human–Robot Interaction (HRI) , October 2020 , pp. 1756 - 1777
Creative Commons
Creative Common License - CCCreative Common License - BY
This is an Open Access article, distributed under the terms of the Creative Commons Attribution licence (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted re-use, distribution, and reproduction in any medium, provided the original work is properly cited.
Copyright
Copyright © The Author(s) 2019

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