Path Following Control for Human-Robot Collaborative Tasks

This paper presents a path following control designed for human-robot collaborative tasks. The path following strategy allows the task description and human-robot interaction to be defined according to components tangent and transversal to a nominal path. With this formulation, the control objectives for each task can be customized to generate motions towards task completion and getting on the nominal path when switching between tasks. Simulation examples of the path following control is presented, demonstrating the ability for the proposed controllers to be customized according to objectives of the human-robot collaboration.