Motion harmonization for human-robot collaborative handling tasks

In human-robot collaboration (HRC), robots work alongside humans within a shared workspace. When repeating a handling task together, the movement of the human co-worker varies each time while the robot’s movement stays the same. To enable smooth collaboration, the robot’s path needs to be harmonized with the movement of the human co-worker. This work proposes a concept to plan robot trajectories that best fit natural human movement while considering the speed and acceleration limits of the robot joints.