Motion safety and constraints compatibility for multibody robots
نویسندگان
چکیده
منابع مشابه
Motion safety and constraints compatibility for multibody robots
In this paper we propose a methodology to ensure safe behaviors of multibody robots in reactive control frameworks. The permanent satisfaction of constraints being insufficient to ensure safety, this approach focuses on the constraints expression: the compatibility between these constraints is studied, and safe alternatives are ensured when compatibility cannot be established. A complete case s...
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ژورنال
عنوان ژورنال: Autonomous Robots
سال: 2012
ISSN: 0929-5593,1573-7527
DOI: 10.1007/s10514-011-9264-x