Real-Time Control of Robot Arms for Safe Human-Robot Coexistence

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In the past years, manufacturers have been moving from automated mass production to automated mass customization, where robots share a workspace with humans in constantly changing scenarios. To avoid collisions with humans and the environment while ensuring efficient task realization,
we introduce a computationally efficient control scheme that relies on the Explicit Reference Governor (ERG) formalism to enforce input and state constraints in real-time. 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 shown with experimental validations on the Franka Emika Panda robot arm.
Originele taal-2English
TitelICRA 2021 Workshop: Unlocking the potential of human-robot collaboration for industrial applications
Aantal pagina's3
StatusPublished - 2021
EvenementIEEE International Conference on Robotics and Automation (ICRA) - Xi'an, China
Duur: 30 mei 20215 jun 2021


ConferenceIEEE International Conference on Robotics and Automation (ICRA)
Verkorte titelICRA
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