A Null-space based Approach for a Safe and Effective Human-Robot Collaboration
Federico Benzi,Cristian Secchi,Federico Benzi,Cristian Secchi
During physical human robot collaboration, it is important to be able to implement a time-varying interactive behaviour while ensuring robust stability. Admittance control and passivity theory can be exploited for achieving these objectives. Nevertheless, when the admittance dynamics is time-varying, it can happen that, for ensuring a passive and stable behaviour, some spurious dissipative effects...