Towards X-ray medical imaging with robots in the open: safety without compromising performances

Abstract : — In this paper, a control solution featuring an energetic constraint is developed to improve the safety of a robotic manipulator sharing its workspace with humans. This general control structure, exploits a generic safe controller that ensures the respect of multiple constraints thanks to a Linear Quadratic Problem formulation. With a unified energetic formulation, the controller allows to explicitly limit both the kinetic energy when moving and the wrench applied to the environment in case of contact with and unexpected obstacle. It is experimented on a redundant Kuka LWR4+ robot which end-effector shall precisely point toward a given location while following a trajectory.
Document type :
Journal articles
IEEE International Conference on Robotics and Automation (ICRA), In press
Liste complète des métadonnées

Cited literature [20 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-01614508
Contributor : Lucas Joseph <>
Submitted on : Friday, February 23, 2018 - 7:19:57 PM
Last modification on : Friday, August 31, 2018 - 9:13:02 AM
Document(s) archivé(s) le : Friday, May 25, 2018 - 10:52:14 AM

File

root.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-01614508, version 2

Collections

Citation

Lucas Joseph, Vincent Padois, Guillaume Morel. Towards X-ray medical imaging with robots in the open: safety without compromising performances. IEEE International Conference on Robotics and Automation (ICRA), In press. 〈hal-01614508v2〉

Share

Metrics

Record views

221

Files downloads

102