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Sensor-Based Control for Collaborative Robots Fundamentals Challenges and Opportunities

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Document pages: 36 pages

Abstract: The objective of this paper is to present a systematic review of existingsensor-based control methodologies for applications that involve directinteraction between humans and robots, in the form of either physicalcollaboration or safe coexistence. To this end, we first introduce the basicformulation of the sensor-servo problem, then present the most commonapproaches: vision-based, touch-based, audio-based, and distance-based control.Afterwards, we discuss and formalize the methods that integrate heterogeneoussensors at the control level. The surveyed body of literature is classifiedaccording to the type of sensor, to the way multiple measurements are combined,and to the target objectives and applications. Finally, we discuss openproblems, potential applications, and future research directions.

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