3 accepted papers
Modern collaborative robotic applications require robot motions that are predictable for human coworkers. Therefore, trajectories often need to be planned in task space rather than configuration space (\mathcal{C}\mathcal{C}-space). While the interpolation of translations in Euclidean space is strai…
Modern collaborative manipulators operate in unknown environments and share the work space with human coworkers. To ensure flexibility, their kinematic design is redundant which increases the solution space of the inverse kinematics (IK). We propose a real-time capable Predictive Kinematics Controll…
Modern flexible production systems benefit from collaborative robot systems that support to teach robot configurations by hand to quickly implement collision-free motions. However, appropriate interpolation schemes that allow a fast and smooth motion through this sequence of waypoints is often not p