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 proceedingConference contributionAcademicpeer-review

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 languageEnglish
Title of host publication2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
PublisherIEEE
Pages7152-7158
Number of pages7
ISBN (Electronic)9781728162126
DOIs
Publication statusPublished - 10 Feb 2021
EventIEEE/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 202025 Nov 2020
https://www.iros2020.org/index.html

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Abbreviated titleIROS 2020
CountryUnited States
CityLas Vegas
Period25/10/2025/11/20
Internet address

Keywords

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

Fingerprint Dive into the research topics of 'An energy-based approach for the integration of collaborative redundant robots in restricted work environments'. Together they form a unique fingerprint.

Cite this