Spherical Wrist Manipulator Local Planner for Redundant Tasks in Collaborative Environments

Spherical Wrist Manipulator Local Planner for Redundant Tasks in Collaborative Environments

Standard industrial robotic manipulators use well-established high performing technologies. However, such manipulators do not guarantee a safe Human–Robot Interaction (HRI), limiting their usage in industrial and medical applications. This paper proposes a novel local path planner for spherical wris...

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Bibliographic Details
Main Authors: Marcello Chiurazzi, Joan Ortega Alcaide, Alessandro Diodato, Arianna Menciassi, Gastone Ciuti
Format: Article
Language:English
Published: MDPI AG 2023-01-01
Series:Sensors
Subjects:
robotics control
local path planner
task redundancy
collision avoidance strategy
human–robot interaction
Online Access:https://www.mdpi.com/1424-8220/23/2/677

Internet

https://www.mdpi.com/1424-8220/23/2/677

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