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: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

3 Citations (Scopus)

9 Downloads (Pure)

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
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	https://doi.org/10.1109/IROS45743.2020.9341561
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)
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
Abbreviated title	IROS 2020
Country/Territory	United States
City	Las Vegas
Period	25/10/20 → 25/11/20
Internet address	https://www.iros2020.org/index.html

Keywords

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

Access to Document

10.1109/IROS45743.2020.9341561

Hjorth-2020-energy-basedFinal published version, 3.8 MBLicence: Taverne

Cite this

Hjorth, S., Lachner, J., Stramigioli, S., Madsen, O., & Chrysostomou, D. (2021). 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, IROS 2020 (pp. 7152-7158). [9341561] (IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); Vol. 2020). IEEE. https://doi.org/10.1109/IROS45743.2020.9341561

Hjorth, Sebastian ; Lachner, Johannes ; Stramigioli, Stefano ; Madsen, Ole ; Chrysostomou, Dimitrios. / 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, IROS 2020. Piscataway, NJ : IEEE, 2021. pp. 7152-7158 (IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)).

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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.",

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Hjorth, S, Lachner, J, Stramigioli, S, Madsen, O & Chrysostomou, D 2021, 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, IROS 2020., 9341561, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), vol. 2020, IEEE, Piscataway, NJ, pp. 7152-7158, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, Las Vegas, United States, 25/10/20. 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; Madsen, Ole; Chrysostomou, Dimitrios.

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020. Piscataway, NJ : IEEE, 2021. p. 7152-7158 9341561 (IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); Vol. 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Hjorth, Sebastian

AU - Lachner, Johannes

AU - Stramigioli, Stefano

AU - Madsen, Ole

AU - Chrysostomou, Dimitrios

PY - 2021/2/10

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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; 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.

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; 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.

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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, IROS 2020. Piscataway, NJ: IEEE. 2021. p. 7152-7158. 9341561. (IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)). https://doi.org/10.1109/IROS45743.2020.9341561

An energy-based approach for the integration of collaborative redundant robots in restricted work environments

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Keywords

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