Reference Frame Identification and Distributed Control Strategies in Human-Robot Collaboration

The reference frame definition is a significant postulate for the robot motion planning process. Reference frame selection can be classified as allocentric, egocentric and route-centric. The identification of a reference frame affects the complexity of measuring and implementing the controlling variables. The work reports this topic by referring specifically at the human robot collaboration in a workstation. Accordingly, this work proposes a methodology for the evaluation of the reference frame in a human robot communication aimed at enabling, effective and safe distributed control strategies.