Explicit safety and compliance on torque controlled robots for physical interaction
Résumé
This paper presents a framework aimed at improving safety and compliance in dynamic physical interactions for precise torque-controlled rigid-body robots. The framework uses a quadratic program (QP) in the motion generation formulation that explicitly accounts for external forces. Our solution ensures that adherence to feasibility and safety constraints is robust to disturbances, while preserving task compliance. Our tests on a torque-controlled Kinova Gen3 manipulator arm where we simulate external forces by attaching an uncompensated weight (1.25kg) to it's end-effector demonstrated a reduction of 100% in the violation of velocity limit. We also show that it's straightforward to choose between stiffness and compliance for each of the concurrent tasks. Furthermore, by integrating force/torque sensor measurements with a residualbased estimation, we enhanced the accuracy of interaction force estimation on average from 2.0N RMS error using only the residual estimation to 0.7N RMS error with our method. These results highlight the effectiveness of our approach in maintaining reactive safety and compliance in the presence of external forces.
Domaines
Robotique [cs.RO]Origine | Fichiers produits par l'(les) auteur(s) |
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