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Communication Dans Un Congrès Année : 2015

Control of robots sharing their workspace with humans: an energetic approach to safety

Résumé

In this paper, we propose a physically meaningful energy-related safety indicator for robots sharing their workspace with humans. Based on this indicator, a safety criterion accounting for the breaking capabilities of the robot is included as a quadratic constraint in the control algorithm. This constraint is modulated by the distance between the human operator and the end-effector of the robot. The control algorithm is formulated as an optimization problem and computes the actuation torque of a robotic manipulator given some task to be performed and physical constraints to respect. The overall framework is validated in a physics simulation software on a Kuka LWR4 and different behaviours of the robot towards a considered obstacle in its environment are evaluated and discussed.
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Dates et versions

hal-01179822 , version 1 (23-07-2015)

Identifiants

  • HAL Id : hal-01179822 , version 1

Citer

Anis Meguenani, Vincent Padois, Philippe Bidaud. Control of robots sharing their workspace with humans: an energetic approach to safety. IROS 2015, Sep 2015, Hamburg, Germany. pp.7. ⟨hal-01179822⟩
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