Enabling passivity for Cartesian workspace restrictions
Sebastian Hjorth,Johannes Lachner,Arash Ajoudani,Dimitrios Chrysostomou,Sebastian Hjorth,Johannes Lachner,Arash Ajoudani,Dimitrios Chrysostomou
An emerging trend in the field of human-robot collaboration is the disassembly of end-of-life products. Safety is a crucial requirement of the disassembly process since worn-out or damaged products could break, possibly resulting in dangerous behavior of the robot. To protect the user from such behavior, this work addresses this challenge through the implementation of an energy-aware Cartesian imp...
