6D workspace constraints for physical human-robot interaction using invariance control with chattering reduction

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2012, Pages 3377-3383

  Kimmel, Melanie ^a   Lawitzky, Martin ^a   Hirche, Sandra ^a  

^a TECHNICAL UNIVERSITY OF MUNICH   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTATIONALLY EFFICIENT; CONTROL CONCEPT; EULER SOLVER; MANIPULATOR DYNAMICS; ORIENTATION CONSTRAINT; ROBOT MOTION; THEORETICAL RESULT; UNIT QUATERNION; VIRTUAL WORKSPACES; WORKSPACE BOUNDARIES;

HUMAN ROBOT INTERACTION; INTELLIGENT SYSTEMS; MAN MACHINE SYSTEMS;

HUMAN COMPUTER INTERACTION;

EID: 84872356840     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2012.6385906     Document Type: Conference Paper

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