An Algorithm for Joints' Boundaries in a Six Degrees Of Freedom Robot

In the context of Human-Robot Cooperation, the interaction between human and robot is a crucial point. In addition, the safety of the operator during the collaborative transport of objects is fundamental. Therefore, in this thesis, an algorithm to enhance human-robot cooperative transport has been developed. The aim is to let the robot better adapt to the human operator's motion during the transport in the workcell. This will be achieved by taking advantage of some properly instantiated virtual obstacles and a fast approach to check the robot manipulator collisions with such obstacles, in order to obtain boundaries around the nominal path inside which the robot will accept deviations introduced by the human operator motion. The nominal path will be made available by a global planner such as RRT-Connect while respecting the boundaries will be managed by an MPC. The algorithm has been tested in three use cases for DrapeBot, an European Project for collaborative draping of carbon fiber patches. Tests were performed instantiating 100 to 100 000 virtual obstacles. With 12148 obstacles instantiated the algorithm creates the boundaries joint limits in 1.527 s with 99.9774% confidence.