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Machines, Volume 9, Issue 6

June 2021 - 21 articles

Cover Story: In a human–robot collaborative system, safety issues are the main pillars. Anti-collision control techniques are essential to improving operator safety and robot flexibility by preventing impacts that can occur between the robot and humans or objects found within the workspace. In this paper, a set of algorithms for dynamic collision avoidance are customized for the Universal Robots' collaborative manipulator class. Links of the robot are wrapped by adaptive cylindrical safety regions, whose radius varies according to the speed of the colliding obstacle. Three control laws are proposed, based on the type of motion admitted for the perturbation of the end-effector trajectory: the most general mode admits a 6-DOF perturbation, whereas reduced mobility modes allow for 4-DOF and 3-DOF perturbations. View this paper.

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Article

7 Citations

6,672 Views

13 Pages

An Optimal Choice of Profile Shift Coefficients for Spur Gears

Zoltán Tomori

Machines2021, 9(6), 106;https://doi.org/10.3390/machines9060106

22 May 2021

Methods used earlier for choosing profile shift coefficients were based on presumed advantages without physical proof justifying them. In this paper, a new method is proposed which guarantees a positive influence on gear failures and the operational...

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