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

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Abstrakt

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.
OriginalsprogEngelsk
Titel2020 IEEE/RSJ International Conference on Intelligent Robots and Systems : Consumer Robotics and Our Future
Antal sider7
ForlagIEEE
Publikationsdato2020
Sider7152-7158
Artikelnummer9341561
ISBN (Trykt)978-1-7281-6213-3
ISBN (Elektronisk)9781728162126
DOI
StatusUdgivet - 2020
Begivenhed2020 IEEE/RSJ International Conference on Intelligent Robots and Systems: Consumer Robotics and Our Future - Caesars Forum, Las Vegas, Las Vegas, USA
Varighed: 25 okt. 202029 okt. 2020
Konferencens nummer: 33
https://www.iros2020.org/index.html

Konference

Konference2020 IEEE/RSJ International Conference on Intelligent Robots and Systems
Nummer33
LokationCaesars Forum, Las Vegas
Land/OmrådeUSA
ByLas Vegas
Periode25/10/202029/10/2020
Internetadresse
NavnI E E E International Conference on Intelligent Robots and Systems. Proceedings
ISSN2153-0858

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