Spherical Wrist Manipulator Local Planner for Redundant Tasks in Collaborative Environments

Standard industrial robotic manipulators use well-established high performing technologies. However, such manipulators do not guarantee a safe Human–Robot Interaction (HRI), limiting their usage in industrial and medical applications. This paper proposes a novel local path planner for spherical wris...

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Bibliographic Details

Published in:	Sensors
Main Authors:	Marcello Chiurazzi, Joan Ortega Alcaide, Alessandro Diodato, Arianna Menciassi, Gastone Ciuti
Format:	Article
Language:	English
Published:	MDPI AG 2023-01-01
Subjects:	robotics control local path planner task redundancy collision avoidance strategy human–robot interaction
Online Access:	https://www.mdpi.com/1424-8220/23/2/677