An Optimization Approach for a Robust and Flexible Control in Collaborative Applications
Federico Benzi Cristian Secchi Federico Benzi Cristian Secchi
In Human-Robot Collaboration, the robot operates in a highly dynamic environment. Thus, it is pivotal to guarantee the robust stability of the system during the interaction but also a high flexibility of the robot behavior in order to ensure safety and reactivity to the variable conditions of the collaborative scenario.In this paper we propose a control architecture capable of maximizing the flexi...