An Energy-based Approach for the Integration of Collaborative Redundant Robots in Restricted Work Environments

Sebastian Hjorth; Johannes Lachner; Stefano Stramigioli; Ole Madsen; Dimitrios Chrysostomou

doi:10.1109/IROS45743.2020.9341561

An Energy-based Approach for the Integration of Collaborative Redundant Robots in Restricted Work Environments

Sebastian Hjorth^*, Johannes Lachner, Stefano Stramigioli, Ole Madsen, Dimitrios Chrysostomou

^*Kontaktforfatter

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

9 Citationer (Scopus)

Abstract

To this day, most robots are installed behind safety fences, separated from the human. New use-case scenarios demand for collaborative robots, e.g. to assist the human with physically challenging tasks. These robots are mainly installed in work-environments with limited space, e.g. existing production lines. This brings certain challenges for the control of such robots. The presented work addresses a few of these challenges, namely: stable and safe behaviour in contact scenarios; avoid- ance of restricted workspace areas; prevention of joint limits in automatic mode and manual guidance. The control approach in this paper extents an Energy-aware Impedance controller by repulsive potential fields in order to comply with Cartesian and joint constraints. The presented controller was verified for a KUKA LBR iiwa 7 R800 in simulation as well as on the real robot.

Originalsprog	Engelsk
Titel	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems : Consumer Robotics and Our Future
Antal sider	7
Forlag	IEEE
Publikationsdato	2020
Sider	7152-7158
Artikelnummer	9341561
ISBN (Trykt)	978-1-7281-6213-3
ISBN (Elektronisk)	9781728162126
DOI	https://doi.org/10.1109/IROS45743.2020.9341561
Status	Udgivet - 2020
Begivenhed	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems: Consumer Robotics and Our Future - Caesars Forum, Las Vegas, Las Vegas, USA Varighed: 25 okt. 2020 → 29 okt. 2020 Konferencens nummer: 33 https://www.iros2020.org/index.html

Konference

Konference	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems
Nummer	33
Lokation	Caesars Forum, Las Vegas
Land/Område	USA
By	Las Vegas
Periode	25/10/2020 → 29/10/2020
Internetadresse	https://www.iros2020.org/index.html

Navn	I E E E International Conference on Intelligent Robots and Systems. Proceedings
ISSN	2153-0858

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10.1109/IROS45743.2020.9341561

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Citationsformater

Hjorth, S., Lachner, J., Stramigioli, S., Madsen, O., & Chrysostomou, D. (2020). An Energy-based Approach for the Integration of Collaborative Redundant Robots in Restricted Work Environments. I 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems: Consumer Robotics and Our Future (s. 7152-7158). Artikel 9341561 IEEE. https://doi.org/10.1109/IROS45743.2020.9341561

Hjorth, Sebastian ; Lachner, Johannes ; Stramigioli, Stefano et al. / An Energy-based Approach for the Integration of Collaborative Redundant Robots in Restricted Work Environments. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems: Consumer Robotics and Our Future. IEEE, 2020. s. 7152-7158 (I E E E International Conference on Intelligent Robots and Systems. Proceedings).

@inproceedings{95889c2dbc82466c84f7284d3586c96a,

title = "An Energy-based Approach for the Integration of Collaborative Redundant Robots in Restricted Work Environments",

abstract = "To this day, most robots are installed behind safety fences, separated from the human. New use-case scenarios demand for collaborative robots, e.g. to assist the human with physically challenging tasks. These robots are mainly installed in work-environments with limited space, e.g. existing production lines. This brings certain challenges for the control of such robots. The presented work addresses a few of these challenges, namely: stable and safe behaviour in contact scenarios; avoid- ance of restricted workspace areas; prevention of joint limits in automatic mode and manual guidance. The control approach in this paper extents an Energy-aware Impedance controller by repulsive potential fields in order to comply with Cartesian and joint constraints. The presented controller was verified for a KUKA LBR iiwa 7 R800 in simulation as well as on the real robot.",

keywords = "Artificial potential fields, Collaborative robots, Energy-aware robotics, Impedance Control, Redundant manipulators, Workspace restriction",

author = "Sebastian Hjorth and Johannes Lachner and Stefano Stramigioli and Ole Madsen and Dimitrios Chrysostomou",

year = "2020",

doi = "10.1109/IROS45743.2020.9341561",

language = "English",

isbn = "978-1-7281-6213-3",

series = "I E E E International Conference on Intelligent Robots and Systems. Proceedings",

publisher = "IEEE",

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address = "United States",

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

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Hjorth, S, Lachner, J, Stramigioli, S, Madsen, O & Chrysostomou, D 2020, An Energy-based Approach for the Integration of Collaborative Redundant Robots in Restricted Work Environments. i 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems: Consumer Robotics and Our Future., 9341561, IEEE, I E E E International Conference on Intelligent Robots and Systems. Proceedings, s. 7152-7158, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, 25/10/2020. https://doi.org/10.1109/IROS45743.2020.9341561

An Energy-based Approach for the Integration of Collaborative Redundant Robots in Restricted Work Environments. / Hjorth, Sebastian; Lachner, Johannes; Stramigioli, Stefano et al.
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems: Consumer Robotics and Our Future. IEEE, 2020. s. 7152-7158 9341561 (I E E E International Conference on Intelligent Robots and Systems. Proceedings).

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

TY - GEN

T1 - An Energy-based Approach for the Integration of Collaborative Redundant Robots in Restricted Work Environments

AU - Hjorth, Sebastian

AU - Lachner, Johannes

AU - Stramigioli, Stefano

AU - Madsen, Ole

AU - Chrysostomou, Dimitrios

N1 - Conference code: 33

PY - 2020

Y1 - 2020

N2 - To this day, most robots are installed behind safety fences, separated from the human. New use-case scenarios demand for collaborative robots, e.g. to assist the human with physically challenging tasks. These robots are mainly installed in work-environments with limited space, e.g. existing production lines. This brings certain challenges for the control of such robots. The presented work addresses a few of these challenges, namely: stable and safe behaviour in contact scenarios; avoid- ance of restricted workspace areas; prevention of joint limits in automatic mode and manual guidance. The control approach in this paper extents an Energy-aware Impedance controller by repulsive potential fields in order to comply with Cartesian and joint constraints. The presented controller was verified for a KUKA LBR iiwa 7 R800 in simulation as well as on the real robot.

AB - To this day, most robots are installed behind safety fences, separated from the human. New use-case scenarios demand for collaborative robots, e.g. to assist the human with physically challenging tasks. These robots are mainly installed in work-environments with limited space, e.g. existing production lines. This brings certain challenges for the control of such robots. The presented work addresses a few of these challenges, namely: stable and safe behaviour in contact scenarios; avoid- ance of restricted workspace areas; prevention of joint limits in automatic mode and manual guidance. The control approach in this paper extents an Energy-aware Impedance controller by repulsive potential fields in order to comply with Cartesian and joint constraints. The presented controller was verified for a KUKA LBR iiwa 7 R800 in simulation as well as on the real robot.

KW - Artificial potential fields

KW - Collaborative robots

KW - Energy-aware robotics

KW - Impedance Control

KW - Redundant manipulators

KW - Workspace restriction

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U2 - 10.1109/IROS45743.2020.9341561

DO - 10.1109/IROS45743.2020.9341561

M3 - Article in proceeding

SN - 978-1-7281-6213-3

T3 - I E E E International Conference on Intelligent Robots and Systems. Proceedings

SP - 7152

EP - 7158

BT - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - IEEE

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

Y2 - 25 October 2020 through 29 October 2020

ER -

Hjorth S, Lachner J, Stramigioli S, Madsen O , Chrysostomou D. An Energy-based Approach for the Integration of Collaborative Redundant Robots in Restricted Work Environments. I 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems: Consumer Robotics and Our Future. IEEE. 2020. s. 7152-7158. 9341561. (I E E E International Conference on Intelligent Robots and Systems. Proceedings). doi: 10.1109/IROS45743.2020.9341561

An Energy-based Approach for the Integration of Collaborative Redundant Robots in Restricted Work Environments

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