The trend toward collaborative robotics portends to a workshop layout where robots and humans share the workspace and collaborate in many operations, in a dynamical and unforeseeable scenario. In addition to dedicated hardware and design principles, collaborative robotics implies specific control strategies to ensure safety. In this sense, collision avoidance control techniques represent a powerful means of improving the safety and flexibility of robots. The paper presents a framework for motion planning and control of manipulators aimed at collision avoidance of static and dynamic obstacles. Algorithms are tested in simulation for a redundant collaborative robot (KUKA LBR iiwa)
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