IROS 2018poster15 citations
Computation of Safe Path Velocity for Collaborative Robots
Christoffer Sloth, Henrik Gordon Petersen
Abstract
This paper presents a method for numerically computing the highest path velocity that a collaborative robot can attain, while complying with safety requirements. The safety requirements are obtained from ISO/TS 15066 that describes a collaborative method called power and force limiting, which specifies safe collisions between humans and robots. In particular, we assume that a path is given and compute the point-wise maximal path velocity that ensures a safe impact, i.e., the paper provides no considerations on the post impact safety.
BibTeX
@inproceedings{iros2018_computationofsaf,
title = {Computation of Safe Path Velocity for Collaborative Robots},
author = {Christoffer Sloth and Henrik Gordon Petersen},
booktitle = {IROS 2018},
year = {2018}
}