Abstract
We formulate a prescribed-time safety filter for the case of a redundant manipulator performing a fixed-duration task. This quadratic programming based formulation yields a filter that is capable of avoiding multiple obstacles in a minimally invasive manner, while simultaneously allowing the nominal controller to converge to positions located on the boundary of the safe set by the end of the fixed-duration task. In order to demonstrate the efficacy of the proposed method, we performed a series of simulations and experiments on Baxter, a 7-DOF collaborative robot manipulator. Furthermore, when compared to the exponential safety filter, which is the state-of-the-art in current literature, our proposed method yielded consistently lower joint jerks. Thus, for tasks with a fixed duration, the proposed PTSf offers performance benefits over the exponential filters currently present in literature.
Sign-in/Register to access full text options 
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 callDisclaimer: 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.
