Human Preferences in Using Damping to Manage Singularities During Physical Human-Robot Collaboration
Marc G. Carmichael,Richardo Khonasty,Stefano Aldini,Dikai Liu,Marc G. Carmichael,Richardo Khonasty,Stefano Aldini,Dikai Liu
When a robot manipulator approaches a kinematic singular configuration, control strategies need to be employed to ensure safe and robust operation. If this manipulator is being controlled by a human through physical human-robot collaboration, the choice of strategy for handling singularities can have a significant effect on the feelings and impressions of the user. To date the preferences of human...
