Industrial collaborative robotics is promising for manufacturing activities where the presence
of a robot alongside a human operator can improve operator's working conditions, flexibility …

This paper presents a framework for the motion planning and control of redundant
manipulators with the added task of collision avoidance. The algorithms that were previously …

Abstract In the industry 4.0 era, pursuing social sustainability also means implementing a
synergic collaboration between workers and robots. Indeed, robot behavior does not affect …

In a human–robot collaboration scenario, operator safety is the main problem and must be
guaranteed under all conditions. Collision avoidance control techniques are essential to …

This paper presents the implementation of an obstacle avoidance algorithm on the UR5e
collaborative robot. The algorithm, previously developed and verified in simulation, allows …

A central aspect of robotic motion planning is collision avoidance, where a multitude of
different approaches are currently in use. Optimization-based motion planning is one …

In this paper, a novel global time-varying path planning (GTVP) method is proposed. In the
method, real-time paths can be generated based on tunable Bezier curves, which can …

Despite impressive advancements of industrial collaborative robots, their potential remains
largely untapped due to the difficulty in balancing human safety and comfort with fast …

In collaborative robotics, to improve human–robot interaction (HRI), it is necessary to avoid
accidental impacts. In this direction, several works reported how to modify the trajectories of …

Human-machine collaboration is one of the key drivers of the Industry 4.0 paradigm. The
recent advances in collaborative robotics led to the effective implementation of various …