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

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Advances in Service and Industrial Robotics (RAAD 2020)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 84))

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Abstract

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.

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Acknowledgements

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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Authors and Affiliations

  1. Department of Mechanical and Industrial Engineering, Università degli Studi di Brescia, Brescia, Italy

    Alberto Borboni & Nicola Pellegrini

  2. Department of Mechanical, Energy and Management Engineering, Università della Calabria, Rende, Italy

    Giuseppe Carbone

Authors
  1. Alberto Borboni
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  2. Giuseppe Carbone
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  3. Nicola Pellegrini
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Corresponding author

Correspondence to Alberto Borboni .

Editor information

Editors and Affiliations

  1. SP2MI - Site du Futuroscope, University of Poitiers, Poitiers Cedex 9, France

    Saïd Zeghloul

  2. SP2MI - Site du Futuroscope, University of Poitiers, Poitiers Cedex 9, France

    Med Amine Laribi

  3. SP2MI - Site du Futuroscope, University of Poitiers, Poitiers Cedex 9, France

    Juan Sebastian Sandoval Arevalo

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Borboni, A., Carbone, G., Pellegrini, N. (2020). Reference Frame Identification and Distributed Control Strategies in Human-Robot Collaboration. In: Zeghloul, S., Laribi, M., Sandoval Arevalo, J. (eds) Advances in Service and Industrial Robotics. RAAD 2020. Mechanisms and Machine Science, vol 84. Springer, Cham. https://doi.org/10.1007/978-3-030-48989-2_11

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