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

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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 languageEnglish
Article number102223
Number of pages14
JournalRobotics and Computer-Integrated Manufacturing
Volume73
Early online date5 Aug 2021
DOIs
Publication statusE-pub ahead of print - 5 Aug 2021

Keywords

  • Human–robot collaboration
  • collision avoidance
  • Constrained Control
  • robot arm

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