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

doi:10.1109/IROS45743.2020.9341561

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 proceeding › Article in proceeding › Research › peer-review

12 Citations (Scopus)

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
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 (Institute of Electrical and Electronics Engineers)
Publication date	2020
Pages	7152-7158
Article number	9341561
ISBN (Print)	978-1-7281-6213-3
ISBN (Electronic)	9781728162126
DOIs	https://doi.org/10.1109/IROS45743.2020.9341561
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
Number	33
Location	Caesars Forum, Las Vegas
Country/Territory	United States
City	Las Vegas
Period	25/10/2020 → 29/10/2020
Internet address	https://www.iros2020.org/index.html

Series	I E E E International Conference on Intelligent Robots and Systems. Proceedings
ISSN	2153-0858

Keywords

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

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Hjorth, S., Lachner, J., Stramigioli, S., Madsen, O., & Chrysostomou, D. (2020). 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 (pp. 7152-7158). Article 9341561 IEEE (Institute of Electrical and Electronics Engineers). https://doi.org/10.1109/IROS45743.2020.9341561

Hjorth, Sebastian ; Lachner, Johannes ; Stramigioli, Stefano et al. / An Energy-based Approach for the Integration of Collaborative Redundant Robots in Restricted Work Environments. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems: Consumer Robotics and Our Future. IEEE (Institute of Electrical and Electronics Engineers), 2020. pp. 7152-7158 (I E E E International Conference on Intelligent Robots and Systems. Proceedings).

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title = "An Energy-based Approach for the Integration of Collaborative Redundant Robots in Restricted Work Environments",

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.",

keywords = "Artificial potential fields, Collaborative robots, Energy-aware robotics, Impedance Control, Redundant manipulators, Workspace restriction",

author = "Sebastian Hjorth and Johannes Lachner and Stefano Stramigioli and Ole Madsen and Dimitrios Chrysostomou",

year = "2020",

doi = "10.1109/IROS45743.2020.9341561",

language = "English",

isbn = "978-1-7281-6213-3",

series = "I E E E International Conference on Intelligent Robots and Systems. Proceedings",

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booktitle = "2020 IEEE/RSJ International Conference on Intelligent Robots and Systems",

address = "United States",

note = "2020 IEEE/RSJ International Conference on Intelligent Robots and Systems : Consumer Robotics and Our Future, IROS 2020 ; Conference date: 25-10-2020 Through 29-10-2020",

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Hjorth, S, Lachner, J, Stramigioli, S, Madsen, O & Chrysostomou, D 2020, 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., 9341561, IEEE (Institute of Electrical and Electronics Engineers), I E E E International Conference on Intelligent Robots and Systems. Proceedings, pp. 7152-7158, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, United States, 25/10/2020. https://doi.org/10.1109/IROS45743.2020.9341561

An Energy-based Approach for the Integration of Collaborative Redundant Robots in Restricted Work Environments. / Hjorth, Sebastian; Lachner, Johannes; Stramigioli, Stefano et al.
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems: Consumer Robotics and Our Future. IEEE (Institute of Electrical and Electronics Engineers), 2020. p. 7152-7158 9341561 (I E E E International Conference on Intelligent Robots and Systems. Proceedings).

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

TY - GEN

T1 - An Energy-based Approach for the Integration of Collaborative Redundant Robots in Restricted Work Environments

AU - Hjorth, Sebastian

AU - Lachner, Johannes

AU - Stramigioli, Stefano

AU - Madsen, Ole

AU - Chrysostomou, Dimitrios

N1 - Conference code: 33

PY - 2020

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N2 - 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.

AB - 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.

KW - Artificial potential fields

KW - Collaborative robots

KW - Energy-aware robotics

KW - Impedance Control

KW - Redundant manipulators

KW - Workspace restriction

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U2 - 10.1109/IROS45743.2020.9341561

DO - 10.1109/IROS45743.2020.9341561

M3 - Article in proceeding

SN - 978-1-7281-6213-3

T3 - I E E E International Conference on Intelligent Robots and Systems. Proceedings

SP - 7152

EP - 7158

BT - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - IEEE (Institute of Electrical and Electronics Engineers)

T2 - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 25 October 2020 through 29 October 2020

ER -

Hjorth S, Lachner J, Stramigioli S, Madsen O , Chrysostomou D. 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 (Institute of Electrical and Electronics Engineers). 2020. p. 7152-7158. 9341561. (I E E E International Conference on Intelligent Robots and Systems. Proceedings). doi: 10.1109/IROS45743.2020.9341561

An Energy-based Approach for the Integration of Collaborative Redundant Robots in Restricted Work Environments

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