Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Robotics in service
Advanced Engineering Mathematics: Maple Computer Guide
Advanced Engineering Mathematics: Maple Computer Guide
Modern Differential Geometry of Curves and Surfaces with Mathematica
Modern Differential Geometry of Curves and Surfaces with Mathematica
Robot Dynamics and Control
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In this article, we present a paradigm for safe path generation and control for a robotic manipulator such that it provides programmable passive resistance therapy to patients with deficits in the upper extremities. When the patient applies an interaction force at the robot's end-effector, a dynamic path generator time parameterises any therapist-specified contour in the robot's workspace-thus, the robot mimics the dynamics of a passive impedance whose anisotropy vector can be continuously reconfigured. The proposed algorithm is easily implementable because it is robust to uncertainty in the robot dynamics. Moreover, the proposed strategy also guarantees user safety by maintaining the net flow of energy during the human robot interaction from the user towards the manipulator.