Improving Safety and Accuracy of Impedance Controlled Robot Manipulators with Proximity Perception and Proactive Impact Reactions
Yitao Ding Ulrike Thomas Yitao Ding Ulrike Thomas
We present a system which improves the safety and accuracy of impedance controlled robotic manipulators with proximity perception. Proximity servoed manipulators, which use proximity sensors attached to the robot’s outer shell, have recently demonstrated robust collision avoidance abilities. Nevertheless, unwanted collisions cannot be avoided entirely. As a fallback safety mechanism, robots with j...