Journal
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
Volume 62, Issue -, Pages -Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.rcim.2019.101882
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Despite safe mechanical design is necessary for the collaborative robots, we can not underestimate the importance of active safety due to a multi-objective control design. Active safety not only complements the mechanical compliance but also enables classical industrial robots the ability to fulfill additional task-space objectives. Using the gradient of the collision avoidance task as hard constraints of a quadratic programming (QP) controller, we assign strict priority to avoid collisions and specify other QP controller objectives with soft task priorities. Through experiments performed on a dual-arm robot, we show that the proposed solution is able to generate safe robot motion that fulfills the task specifications while keeping the feasibility of the underlying quadratic optimization problem.
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