HAL : hal-00719855, version 1

DOI : 10.1007/s10514-011-9264-x

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Autonomous Robots 32, 3 (2012) 333-349

Motion safety and constraints compatibility for multibody robots

Sébastien Rubrecht 1, 2, Vincent Padois 1, Philippe Bidaud 1, Michel De Broissia 2, Max Da Silva Simoes 3

(04/2012)

In this paper we propose a methodology to ensure safe behaviors of multibody robots in reactive control frameworks. The permanent satisfaction of constraints being insufficient to ensure safety, this approach focuses on the constraints expression: the compatibility between these constraints is studied, and safe alternatives are ensured when compatibility cannot be established. Case studies involving obstacles, joint position, velocity and acceleration limits illustrates the approach. A particular method is developed to take full advantage of a smooth state of the art avoidance techniques (Faverjon and Tournassoud in Proceedings of the 1987 IEEE international conference on robotics and automation, pp. 1152-1159, 1987) while maintaining safety. Experiments involving a 6-DOF manipulator operating in a cluttered environment illustrate the reliability of the approach and validate the expected performances.

1 :	Institut des Systèmes Intelligents et Robotique (ISIR)
	CNRS : UMR7222 – Université Pierre et Marie Curie [UPMC] - Paris VI
2 :	Bouygues Travaux Publics
	Bouygues Travaux Publics
3 :	Laboratoire d'Intégration des Systèmes et des Technologies (LIST)

Domaine

:

Informatique/Robotique

Mots Clés : Robotic constraints – Constraints compliant control – Motion safety – Multibody robot safety – Safe reactive control

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Contributeur : Vincent Padois <>

Soumis le : Samedi 21 Juillet 2012, 10:36:19

Dernière modification le : Samedi 21 Juillet 2012, 12:17:25