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; 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.
Original language | English |
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Title of host publication | 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 |
Place of Publication | Piscataway, NJ |
Publisher | IEEE |
Pages | 7152-7158 |
Number of pages | 7 |
ISBN (Electronic) | 978-1-7281-6213-3 |
ISBN (Print) | 978-1-7281-6213-3 |
DOIs | |
Publication status | Published - 10 Feb 2021 |
Event | IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020: Consumer Robotics and Our Future - On-Demand Conference, Las Vegas, United States Duration: 25 Oct 2020 → 25 Nov 2020 https://www.iros2020.org/index.html |
Publication series
Name | IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
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Publisher | IEEE |
Volume | 2020 |
ISSN (Print) | 2153-0858 |
ISSN (Electronic) | 2153-0866 |
Conference
Conference | IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 |
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Abbreviated title | IROS 2020 |
Country/Territory | United States |
City | Las Vegas |
Period | 25/10/20 → 25/11/20 |
Internet address |
Keywords
- Artificial potential fields
- Collaborative robots
- Energy-aware robotics
- Impedance Control
- Redundant manipulators
- Workspace restriction