Safe Collision and Clamping Reaction for Parallel Robots During Human-Robot Collaboration

Aran Mohammad,Moritz Schappler,Tim-Lukas Habich,Tobias Ortmaier,Aran Mohammad,Moritz Schappler,Tim-Lukas Habich,Tobias Ortmaier

Parallel robots (PRs) offer the potential for safe human-robot collaboration because of their low moving masses. Due to the in-parallel kinematic chains, the risk of contact in the form of collisions and clamping at a chain increases. Ensuring safety is investigated in this work through various contact reactions on a real planar PR. External forces are estimated based on proprioceptive information...