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

被引：7

作者：

Hjorth, Sebastian ^{[1
]}

Lachner, Johannes ^{[2
,3
]}

Stramigioli, Stefano ^{[2
]}

Madsen, Ole ^{[1
]}

Chrysostomou, Dimitrios ^{[1
]}

机构：

[1] Aalborg Univ, Dept Mat & Prod, Aalborg, Denmark

[2] Univ Twente, Fac Elect Engn Math & Comp Sci, Enschede, Netherlands

[3] Kuka Deutschland GmbH, Zugspitzstr 140, D-86165 Augsburg, Germany

来源：

2020 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2020年

关键词：

Workspace restriction; Redundant manipulators; Collaborative robots; Impedance Control; Artificial potential fields; Energy-aware robotics; IMPEDANCE CONTROL; SAFETY;

D O I：

10.1109/IROS45743.2020.9341561

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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; avoidance 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.

引用

页码：7152 / 7158

页数：7

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