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Energy budgets for coordinate invariant robot control in physical human–robot interaction
Name
02783649211011639.pdf
Description
Published version
Size
4.19 MB
Format
Adobe PDF
Checksum (MD5)
2f0183ab78bf02321ec34d7bb59dfef2
Author(s)
Lachner, Johannes
Allmendinger, Felix
Hobert, Eddo
Hogan, Neville
Stramigioli, Stefano
Date Issued
2021
Journal
International Journal of Robotics Research
Publisher
SAGE Publications
Citation
Lachner, Johannes, Allmendinger, Felix, Hobert, Eddo, Hogan, Neville and Stramigioli, Stefano. 2021. "Energy budgets for coordinate invariant robot control in physical human–robot interaction." International Journal of Robotics Research, 40 (8-9).
Version
Final published version
Abstract
In this work we consider the current certification process of applications with physical human–robot interaction (pHRI). Two major hazards are collisions and clamping scenarios. The implementation of safety measures in pHRI applications typically depends strongly on coordinates, e.g., to monitor the robot velocity or to predict external forces. We show that the current certification process does not, in general, guarantee a safe robot behavior. In particular, in unstructured environments it is not possible to predict all risks in advance. We therefore propose to control the energy of the robot, which is a coordinate invariant entity. For an impedance controlled robot, the total energy consists of potential energy and kinetic energy. The energy flow from task description to physical interaction follows a strict causality. We assign a safe energy budget for the robot. With this energy budget, the presented controller auto-tunes its parameters to limit the exchanged kinetic energy during a collision and the potential energy during clamping scenarios. In contact, the robot behaves compliantly and therefore eliminates clamping danger. After contact, the robot automatically continues to follow the desired trajectory. With this approach the number of safety-related parameters to be determined can be reduced to one energy value, which has the potential to significantly speed up the commissioning of pHRI applications. The proposed technique is validated by experiments.
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Creative Commons Attribution 4.0 International license
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DOI of Published Version
10.1177/02783649211011639
