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.
|Title of host publication||2020 IEEE/RSJ International Conference on Intelligent Robots and Systems : Consumer Robotics and Our Future|
|Publication status||Accepted/In press - 1 Jul 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
|Conference||2020 IEEE/RSJ International Conference on Intelligent Robots and Systems|
|Location||Caesars Forum, Las Vegas|
|Period||25/10/2020 → 29/10/2020|
- workspace restriction
- redundant manipulators
- Collaborative robots
- Impedance control
- artificial potential fields
- energy-aware robots
Hjorth, S., Lachner, J., Stramigioli, S., Madsen, O., & Chrysostomou, D. (Accepted/In press). An Energy-based Approach for the Integration of Collaborative Redundant Robots in Restricted Work Environments. In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems: Consumer Robotics and Our Future IEEE.