TY - JOUR
T1 - Development of a Safety- and Energy-Aware Impedance Controller for Collaborative Robots
AU - Raiola, Gennaro
AU - Cardenas, Carlos Alberto
AU - Tadele, Tadele Shiferaw
AU - de Vries, Theo
AU - Stramigioli, Stefano
PY - 2018/4/1
Y1 - 2018/4/1
N2 - In contexts where robots share their workspace with humans, safety is of utmost importance. Consequently, in recent years, a big impulse has been given to the design of human-friendly robots by involving both mechanical and control design aspects. Regarding controller design, this often involves introducing compliance and ensuring asymptotic stability using an interaction control scheme and passivity theory. Moreover, when human operators physically interact with the robot during work, strict safety measures become necessary with some of these including power and force limitations [1]. In this letter, a novel impedance control technique for collaborative robots is presented. The featured controller allows a safe human-robot interaction through energy and power limitations, assuring passivity through energy tanks. The proposed controller is evaluated with a KUKA LWR 4+ arm in a comanipulation environment.
AB - In contexts where robots share their workspace with humans, safety is of utmost importance. Consequently, in recent years, a big impulse has been given to the design of human-friendly robots by involving both mechanical and control design aspects. Regarding controller design, this often involves introducing compliance and ensuring asymptotic stability using an interaction control scheme and passivity theory. Moreover, when human operators physically interact with the robot during work, strict safety measures become necessary with some of these including power and force limitations [1]. In this letter, a novel impedance control technique for collaborative robots is presented. The featured controller allows a safe human-robot interaction through energy and power limitations, assuring passivity through energy tanks. The proposed controller is evaluated with a KUKA LWR 4+ arm in a comanipulation environment.
KW - Compliance and impedance control
KW - Physical human-robot interaction
KW - Robot safety
UR - http://www.scopus.com/inward/record.url?scp=85058325241&partnerID=8YFLogxK
U2 - 10.1109/LRA.2018.2795639
DO - 10.1109/LRA.2018.2795639
M3 - Article
AN - SCOPUS:85058325241
VL - 3
SP - 1237
EP - 1244
JO - IEEE Robotics and automation letters
JF - IEEE Robotics and automation letters
SN - 2377-3766
IS - 2
M1 - 8263610
ER -