Journal
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
Volume 73, Issue -, Pages -Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.rcim.2021.102223
Keywords
Human-robot collaboration; Collision avoidance; Constrained control; Robot arm
Funding
- Fonds Wetenschappelijk Onderzoek (FWO), Belgium [37472, 60523, 62062]
- EU [871237]
- Flemish Government under the program Onderzoeksprogramma Artificiele Intelligentie (AI) Vlaanderen
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This paper introduces a computationally efficient control scheme for safe human-robot interaction, relying on the Explicit Reference Governor (ERG) formalism to enforce input and state constraints in real-time. The proposed solution has been theoretically supported and experimentally validated on the Franka Emika Panda robotic manipulator.
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.
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