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About this paper
Aran Mohammad, Tim-Lukas Habich, Thomas Seel, Moritz Schappler
SafePR uses built-in measurements to identify contact and guide responses that account for self-collision and singularity constraints. It estimates contact and applies specific motions. In 72 tests on one planar robot, collisions were removed within 125 ms and clamping within 300 ms; forces stayed below selected ISO/TS 15066 thresholds, using quasi-static limits for clamping against a fixed pylon.
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