Real-Time Motion Control of Robotic Manipulators for Safe Human-Robot Coexistence

Kelly Merckaert; Bryan Convens; Chi-ju  Wu; Alessandro  Roncone; Marco M. Nicotra; Bram Vanderborght

doi:10.1016/j.rcim.2021.102223

Real-Time Motion Control of Robotic Manipulators for Safe Human-Robot Coexistence

Kelly Merckaert, Bryan Convens, Chi-ju Wu, Alessandro Roncone, Marco M. Nicotra, Bram Vanderborght

Research output: Contribution to journal › Article › peer-review

45 Citations (Scopus)

427 Downloads (Pure)

Abstract

This paper introduces a computationally efficient control scheme for safe human-robot interaction. The method relies on the Explicit Reference Governor (ERG) formalism to enforce input and state constraints in real-time, thus ensuring that the robot can safely operate in close proximity to humans. The resulting constrained control method can steer the robot arm to the desired end-effector pose (or a steady-state admissible approximation thereof) in the presence of actuator saturation, limited joint ranges, speed limits, static obstacles, and humans. The effectiveness of the proposed solution is supported by theoretical results and numerous experimental validations on the Franka Emika Panda robotic manipulator, a commercially available collaborative 7-DOF robot arm.

Original language	English
Article number	102223
Number of pages	14
Journal	Robotics and Computer-Integrated Manufacturing
Volume	73
Early online date	5 Aug 2021
DOIs	https://doi.org/10.1016/j.rcim.2021.102223
Publication status	Published - Feb 2022

Bibliographical note

Funding Information:
This work was supported by Fonds Wetenschappelijk Onderzoek (FWO), Belgium under grant numbers 37472 , 60523 , and 62062 , by the EU H2020 project under grant number 871237 , and by the Flemish Government under the program “Onderzoeksprogramma Artificiële Intelligentie (AI) Vlaanderen”.

Publisher Copyright:
© 2021

Copyright:
Copyright 2021 Elsevier B.V., All rights reserved.

Keywords

Human–robot collaboration
collision avoidance
Constrained Control
robot arm

Access to Document

10.1016/j.rcim.2021.102223

Real-Time Motion Control of Robotic Manipulators for Safe Human Robot CoexistenceAccepted author manuscript, 1.93 MBLicence: CC BY-NC-ND

Cite this

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title = "Real-Time Motion Control of Robotic Manipulators for Safe Human-Robot Coexistence",

abstract = "This paper introduces a computationally efficient control scheme for safe human-robot interaction. The method relies on the Explicit Reference Governor (ERG) formalism to enforce input and state constraints in real-time, thus ensuring that the robot can safely operate in close proximity to humans. The resulting constrained control method can steer the robot arm to the desired end-effector pose (or a steady-state admissible approximation thereof) in the presence of actuator saturation, limited joint ranges, speed limits, static obstacles, and humans. The effectiveness of the proposed solution is supported by theoretical results and numerous experimental validations on the Franka Emika Panda robotic manipulator, a commercially available collaborative 7-DOF robot arm.",

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note = "Funding Information: This work was supported by Fonds Wetenschappelijk Onderzoek (FWO), Belgium under grant numbers 37472 , 60523 , and 62062 , by the EU H2020 project under grant number 871237 , and by the Flemish Government under the program “Onderzoeksprogramma Artifici{\"e}le Intelligentie (AI) Vlaanderen”. Publisher Copyright: {\textcopyright} 2021 Copyright: Copyright 2021 Elsevier B.V., All rights reserved.",

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doi = "10.1016/j.rcim.2021.102223",

language = "English",

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AU - Merckaert, Kelly

AU - Convens, Bryan

AU - Wu, Chi-ju

AU - Roncone, Alessandro

AU - Nicotra, Marco M.

AU - Vanderborght, Bram

N1 - Funding Information: This work was supported by Fonds Wetenschappelijk Onderzoek (FWO), Belgium under grant numbers 37472 , 60523 , and 62062 , by the EU H2020 project under grant number 871237 , and by the Flemish Government under the program “Onderzoeksprogramma Artificiële Intelligentie (AI) Vlaanderen”. Publisher Copyright: © 2021 Copyright: Copyright 2021 Elsevier B.V., All rights reserved.

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AB - This paper introduces a computationally efficient control scheme for safe human-robot interaction. The method relies on the Explicit Reference Governor (ERG) formalism to enforce input and state constraints in real-time, thus ensuring that the robot can safely operate in close proximity to humans. The resulting constrained control method can steer the robot arm to the desired end-effector pose (or a steady-state admissible approximation thereof) in the presence of actuator saturation, limited joint ranges, speed limits, static obstacles, and humans. The effectiveness of the proposed solution is supported by theoretical results and numerous experimental validations on the Franka Emika Panda robotic manipulator, a commercially available collaborative 7-DOF robot arm.

KW - human-robot collaboration

KW - collision avoidance

KW - Constrained Control

KW - robot arm

KW - Human–robot collaboration

KW - collision avoidance

KW - Constrained Control

KW - robot arm

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DO - 10.1016/j.rcim.2021.102223

M3 - Article

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JO - Robotics and Computer-Integrated Manufacturing

JF - Robotics and Computer-Integrated Manufacturing

SN - 0736-5845

M1 - 102223

ER -

Real-Time Motion Control of Robotic Manipulators for Safe Human-Robot Coexistence

Abstract

Bibliographical note

Keywords

Access to Document

Other files and links

Fingerprint

VLAAI1: Flanders Artificial Intelligence Research program (FAIR) – second cycle

EUAR21: H2020: SOPHIA - Socio-physical Interaction Skills for Cooperative Human-Robot Systems in Agile Production

Cite this

Real-Time Motion Control of Robotic Manipulators for Safe Human-Robot Coexistence

Abstract

Bibliographical note

Keywords

Access to Document

Other files and links

Fingerprint

Projects

VLAAI1: Flanders Artificial Intelligence Research program (FAIR) – second cycle

EUAR21: H2020: SOPHIA - Socio-physical Interaction Skills for Cooperative Human-Robot Systems in Agile Production

Cite this