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.
|Titel||2020 IEEE/RSJ International Conference on Intelligent Robots and Systems : Consumer Robotics and Our Future|
|Status||Accepteret/In press - 1 jul. 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
|Konference||2020 IEEE/RSJ International Conference on Intelligent Robots and Systems|
|Lokation||Caesars Forum, Las Vegas|
|Periode||25/10/2020 → 29/10/2020|
Hjorth, S., Lachner, J., Stramigioli, S., Madsen, O., & Chrysostomou, D. (Accepteret/In press). 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.