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 language | English |
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Title of host publication | 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems : Consumer Robotics and Our Future |
Number of pages | 7 |
Publisher | IEEE |
Publication date | 2020 |
Pages | 7152-7158 |
Article number | 9341561 |
ISBN (Print) | 978-1-7281-6213-3 |
ISBN (Electronic) | 9781728162126 |
DOIs | |
Publication status | Published - 2020 |
Event | 2020 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 2020 → 29 Oct 2020 Conference number: 33 https://www.iros2020.org/index.html |
Conference
Conference | 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems |
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Number | 33 |
Location | Caesars Forum, Las Vegas |
Country/Territory | United States |
City | Las Vegas |
Period | 25/10/2020 → 29/10/2020 |
Internet address |
Series | I E E E International Conference on Intelligent Robots and Systems. Proceedings |
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ISSN | 2153-0858 |
Keywords
- Artificial potential fields
- Collaborative robots
- Energy-aware robotics
- Impedance Control
- Redundant manipulators
- Workspace restriction