Online velocity constraint adaptation for safe and efficient human-robot workspace sharing

Abstract : Despite the many advances in collaborative robotics, collaborative robot control laws remain similar to the ones used in more standard industrial robots, significantly reducing the capabilities of the robot when in proximity to a human. Improving the efficiency of collaborative robots requires revising the control approaches and modulating online and in real-time the low-level control of the robot to strictly ensure the safety of the human while guaranteeing efficient task realization. In this work, an openly simple and fast optimization based joint velocity controller is proposed which modulates the joint velocity constraints based on the robot's braking capabilities and the separation distance. The proposed controller is validated on the 7 degrees-of-freedom Franka Emika Panda collaborative robot.
Document type :
Preprints, Working Papers, ...
Complete list of metadatas

Cited literature [27 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-02434905
Contributor : Vincent Padois <>
Submitted on : Friday, January 10, 2020 - 2:07:39 PM
Last modification on : Thursday, January 16, 2020 - 9:18:03 AM

File

joseph_pickard_padois_daney_IC...
Files produced by the author(s)

Identifiers

  • HAL Id : hal-02434905, version 1

Collections

Citation

Lucas Joseph, Joshua Pickard, Vincent Padois, David Daney. Online velocity constraint adaptation for safe and efficient human-robot workspace sharing. 2019. ⟨hal-02434905⟩

Share

Metrics

Record views

50

Files downloads

63