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

Lucas Joseph (1) , Vincent Padois (2) , Guillaume Morel (1, 3)

1 ISIR - Institut des Systèmes Intelligents et de Robotique
2 UPMC - Université Pierre et Marie Curie - Paris 6
3 AGATHE - Assistance aux Gestes et Applications THErapeutiques

— 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.

Domaines: Robotique [cs.RO]

Lucas Joseph, Vincent Padois, Guillaume Morel. Towards X-ray medical imaging with robots in the open: safety without compromising performances. International Conference on Robotics and Automation, May 2018, Brisbane, Australia. ⟨hal-01614508v2⟩