Controller design of a robotic assistant for the transport of large and fragile objects
Julie Dumora,Julien Nicolas,Franck Geffard,Julie Dumora,Julien Nicolas,Franck Geffard
This paper deals with the design of a robotic assistant for the transport of large and fragile objects. We propose a new collaborative robotic controller that fulfills the main requirements of co-transportation tasks of large and fragile objects: to execute any trajectory in a collaborative mode while minimizing the stress applied on the object by both partners in order to avoid damaging it. This ...
