Kinematic Modeling and Compliance Modulation of Redundant Manipulators Under Bracing Constraints

@article{Johnston2020KinematicMA,
  title={Kinematic Modeling and Compliance Modulation of Redundant Manipulators Under Bracing Constraints},
  author={Garrison L. H. Johnston and Andrew L. Orekhov and Nabil Simaan},
  journal={2020 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2020},
  pages={4709-4716}
}
Collaborative robots should ideally use low torque actuators for passive safety reasons. However, some applications require these collaborative robots to reach deep into confined spaces while assisting a human operator in physically demanding tasks. In this paper, we consider the use of in-situ collaborative robots (ISCRs) that balance the conflicting demands of passive safety dictating low torque actuation and the need to reach into deep confined spaces. We consider the judicious use of… 

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