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

Kelly Merckaert; Bryan Convens; Ilias El Makrini; Greet Van de Perre; Marco M. Nicotra; Bram Vanderborght

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

Kelly Merckaert, Bryan Convens, Ilias El Makrini, Greet Van de Perre, Marco M. Nicotra, Bram Vanderborght

Research output: Chapter in Book/Report/Conference proceeding › Conference paper

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Abstract

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 language	English
Title of host publication	IROS 2020 Workshop: Bringing constraint-based robot programming to real-world applications
Publisher	IEEE
Number of pages	3
Publication status	Published - 2020
Event	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020) - Las Vegas, United States Duration: 25 Oct 2020 → 29 Oct 2020 https://www.iros2020.org/index.html

Conference

Conference	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020)
Abbreviated title	IROS 2020
Country/Territory	United States
City	Las Vegas
Period	25/10/20 → 29/10/20
Internet address	https://www.iros2020.org/index.html

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2020_IROS_Workshop__The_Explicit_Reference_Governor_for_Real_Time_Safe_Control_of_a_Robotic_ManipulatorAccepted author manuscript, 196 KB

VLAAI1: Flanders Artificial Intelligence Research program (FAIR) – second cycle
Nowe, A. & Vanderborght, B.
1/01/24 → 31/12/28
Project: Applied

Cite this

@inproceedings{e5374bcfa4544a9a82d8aed37e13ebff,

title = "The Explicit Reference Governor for Real-Time Safe Control of a Robotic Manipulator",

abstract = "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.",

author = "Kelly Merckaert and Bryan Convens and {El Makrini}, Ilias and {Van de Perre}, Greet and Nicotra, {Marco M.} and Bram Vanderborght",

year = "2020",

language = "English",

booktitle = "IROS 2020 Workshop: Bringing constraint-based robot programming to real-world applications",

publisher = "IEEE",

note = "2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), IROS 2020 ; Conference date: 25-10-2020 Through 29-10-2020",

url = "https://www.iros2020.org/index.html",

}

Merckaert, K , Convens, B , El Makrini, I , Van de Perre, G, Nicotra, MM & Vanderborght, B 2020, The Explicit Reference Governor for Real-Time Safe Control of a Robotic Manipulator. in IROS 2020 Workshop: Bringing constraint-based robot programming to real-world applications. IEEE, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), Las Vegas, Nevada, United States, 25/10/20.

The Explicit Reference Governor for Real-Time Safe Control of a Robotic Manipulator. / Merckaert, Kelly ; Convens, Bryan ; El Makrini, Ilias ; Van de Perre, Greet; Nicotra, Marco M.; Vanderborght, Bram.

IROS 2020 Workshop: Bringing constraint-based robot programming to real-world applications. IEEE, 2020.

Research output: Chapter in Book/Report/Conference proceeding › Conference paper

TY - GEN

T1 - The Explicit Reference Governor for Real-Time Safe Control of a Robotic Manipulator

AU - Merckaert, Kelly

AU - Convens, Bryan

AU - El Makrini, Ilias

AU - Van de Perre, Greet

AU - Nicotra, Marco M.

AU - Vanderborght, Bram

PY - 2020

Y1 - 2020

N2 - 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.

AB - 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.

M3 - Conference paper

BT - IROS 2020 Workshop: Bringing constraint-based robot programming to real-world applications

PB - IEEE

T2 - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020)

Y2 - 25 October 2020 through 29 October 2020

ER -

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

Abstract

Conference

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Projects

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

Cite this