The Explicit Reference Governor for Real-Time Safe Control of a Robotic Manipulator

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Robotic manipulators that can coexist with humans need formal safety guarantees. Current solutions cannot handle both input and state constraints, reduce the robot capabilities, or are computationally too expensive. To tackle these drawbacks, we analyzed the Trajectory-Based Explicit Reference Governor, which can address both input and state constraints, and does not require any online optimization. We present the methodology for a generic robot arm and show results for the Franka Panda manipulator. The proposed control scheme is able to steer the robot arm to the desired end-effector position, or an admissible approximation, in the presence of limited joint ranges, actuator saturations, and static obstacles.
Original languageEnglish
Title of host publicationIROS 2020 Workshop: Bringing constraint-based robot programming to real-world applications
Number of pages3
Publication statusPublished - 2020
Event2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020) - Las Vegas, United States
Duration: 25 Oct 202029 Oct 2020


Conference2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020)
Abbreviated titleIROS 2020
CountryUnited States
CityLas Vegas
Internet address

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