Abstract

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.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.