Antun SKURIC

Abstract This thesis is based on vision of the future where robotics and industry are centred around humans, emphasising collaboration between humans and robots rather than mere automation. In this collaborative future, robots serve as active assistants, coexisting closely with humans and engaging in physical interactions to execute tasks. Such symbiotic systems leverage the unique abilities of both humans and robots, enhancing efficiency and prioritising human safety and well-being through … [Read More]

Reachable space of robotic manipulators has complex geometry and is often hard to characterise, therefore it is usually calculated in advance by the robot manufacturers and given as an image in their datasheets (as shown on the image on the right). However these images are hard to exploit as they are not analytical solutions to this problem. Even if we would have an analytical solution to this problem it would still not include in its consideration robot’s dynamics, its payload or its actuator … [Read More]

Iterative convex hull is a polytope evaluation algorithm developed for the generic class of the linear algebra problems: $$ A\bm{x} = B\bm{y},\qquad \bm{y} \in [\bm{y} _{min}, \bm{y} _{max}] $$ This type of problems can be found in many different domains, one of them being the wrench capacity analysis of the human musculoskeletal models. In this paper the method overview is given as well as the verified on the assistive robotics scenario. Paper Abstract Many recent human-robot collaboration … [Read More]