• No results found

Port based modeling of human robot collaboration towards safety enhancing energy shaping control

N/A
N/A
Protected

Academic year: 2020

Share "Port based modeling of human robot collaboration towards safety enhancing energy shaping control"

Copied!
8
0
0

Loading.... (view fulltext now)

Full text

Loading

Figure

Fig. 1.An example scenario of object transportation by a human and mcollaborative robots and possible associated frame definition.
Fig. 2.Port-based representation of collaborative transportation of an object by a human and m robots, each with either rigid contact (direct connection)or compliant contact (represented by (cnt)).
Fig. 3.Evaluation of the energy-based HRC model. In the first two topplots, dashed red lines show the reference positions and solid lines showobtained values
Fig. 4.Validation of energy-based adaptive shared controller. Solid blueand black lines show signals using nominal controller, dashed red lines showsignals using safety-enhancing adaptive controller and green lines in the twomiddle plots show the considered safety thresholds.

References

Related documents

Within the broad framework of psychosocial rehabilitation, a range of services needs to be available and the mix tailored to the needs of each client. For example, if someone wants to

© 2012 Automotive Recyclers Association Web site design and maintenance by Guruz Media Hollander data © Hollander, Inc., used with permission Car-Part data © Car-Part, Inc., used

Although baits may be applied either way with good results, they are best suited to broadcast application because of their ability to control most of the colonies in an

Boxes represent the 25th to 75th percentile, whiskers represent the 25th percentile minus 1.5 times the range of the box and the 75th percentile plus 1.5 times the range of

In spite of the clear phenomenological effect of embodying the other face when comparing the synchronous and the asynchronous condition, the enfacement did not affect

Figure 26: Leading Social Networking Sites in India, July 2010 Figure 27: Snapshot of Social Media Usage in India, 2011 Figure 28: Internet Penetration Rate in India, 2007-2016

network address and port translation works. This works well if the request for a connection is initiated from IPv6 towards the IPv4 Internet. If an IPv4-only device wants to speak to

Therefore the zinc de- posits contain s o m e lead inclusions, mainly as the current density for zinc deposition is lower since lead is deposited at the