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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Samenvatting

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.
Originele taal-2English
Artikelnummer102223
Aantal pagina's14
TijdschriftRobotics and Computer-Integrated Manufacturing
Volume73
Vroegere onlinedatum5 aug 2021
DOI's
StatusPublished - feb 2022

Keywords

  • human-robot collaboration
  • collision avoidance
  • Constrained Control
  • robot arm

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