The reference frame definition is a significant postulate for the robot motion planning process. Reference frame selection can be classified as allocentric, egocentric and route-centric. The identification of a reference frame affects the complexity of measuring and implementing the controlling variables. The work reports this topic by referring specifically at the human robot collaboration in a workstation. Accordingly, this work proposes a methodology for the evaluation of the reference frame in a human robot communication aimed at enabling, effective and safe distributed control strategies.
CITATION STYLE
Borboni, A., Carbone, G., & Pellegrini, N. (2020). Reference Frame Identification and Distributed Control Strategies in Human-Robot Collaboration. In Mechanisms and Machine Science (Vol. 84, pp. 93–102). Springer Science and Business Media B.V. https://doi.org/10.1007/978-3-030-48989-2_11
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