Reference Frame Identification and Distributed Control Strategies in Human-Robot Collaboration

  • Alberto BorboniEmail author
  • Giuseppe Carbone
  • Nicola Pellegrini
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 84)


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.


Reference frame Human-Robot interaction Distributed control 



The paper presents results from the research activities of the project ID 37_215, MySMIS code 103415 “Innovative approaches regarding the rehabilitation and assistive robotics for healthy ageing” co-financed by the European Regional Development Fund through the Competitiveness Operational Programme 2014-2020, Priority Axis 1, Action 1.1.4, through the financing contract 20/01.09.2016, between the Technical University of Cluj-Napoca and ANCSI as Intermediary Organism in the name and for the Ministry of European Funds.


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Copyright information

© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Alberto Borboni
    • 1
    Email author
  • Giuseppe Carbone
    • 2
  • Nicola Pellegrini
    • 1
  1. 1.Department of Mechanical and Industrial EngineeringUniversità degli Studi di BresciaBresciaItaly
  2. 2.Department of Mechanical, Energy and Management EngineeringUniversità della CalabriaRendeItaly

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