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

*Corresponding author for this work

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

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.
Original languageEnglish
Title of host publication2020 IEEE/RSJ International Conference on Intelligent Robots and Systems : Consumer Robotics and Our Future
Number of pages7
PublisherIEEE
Publication date2020
Pages7152-7158
Article number9341561
ISBN (Print)978-1-7281-6213-3
ISBN (Electronic)9781728162126
DOIs
Publication statusPublished - 2020
Event2020 IEEE/RSJ International Conference on Intelligent Robots and Systems: Consumer Robotics and Our Future - Caesars Forum, Las Vegas, Las Vegas, United States
Duration: 25 Oct 202029 Oct 2020
Conference number: 33
https://www.iros2020.org/index.html

Conference

Conference2020 IEEE/RSJ International Conference on Intelligent Robots and Systems
Number33
LocationCaesars Forum, Las Vegas
Country/TerritoryUnited States
CityLas Vegas
Period25/10/202029/10/2020
Internet address
SeriesI E E E International Conference on Intelligent Robots and Systems. Proceedings
ISSN2153-0858

Keywords

  • Artificial potential fields
  • Collaborative robots
  • Energy-aware robotics
  • Impedance Control
  • Redundant manipulators
  • Workspace restriction

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