Optimal scaling of dynamic safety zones for collaborative robotics
Lorenzo Scalera Renato Vidoni Andrea Giusti Lorenzo Scalera Renato Vidoni Andrea Giusti
We propose a safety control approach based on the online optimal scaling of the size of bounding volumes used as dynamic safety zones for collaborative robotics. Intersection tests between bounding volumes surrounding robot and human allow the safety controller to identify possible collisions. Our proposed approach optimizes online smooth stop trajectories, to be engaged if a potential collision i...