Physical Human-Robot Interaction under Joint and Cartesian Constraints

verfasst von

Juan D. Munoz Osorio, Felix Allmendinger, Mario D. Fiore, Uwe E. Zimmermann, Tobias Ortmaier

Abstract

This paper handles the problem of including Cartesian and joint constraints in the stack of tasks for torque-controlled robots. A novel approach is proposed to handle Cartesian constraints and joint constraints on three different levels: position, velocity and acceleration. These constraints are included in the stack of tasks ensuring the maximum possible fulfillment of the tasks despite of the constraints. The algorithm proceeds by creating two tasks with the highest priority in a stack of tasks scheme. The highest priority task saturates the acceleration of the joints that would exceed their motion limits. The second highest priority task saturates the acceleration of the Cartesian directions that would exceed their motion limits. Experiments to test the performance of the algorithm are performed on the KUKA LBR iiwa.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Externe Organisation(en)

KUKA AG

Typ

Aufsatz in Konferenzband

Seiten

185-191

Anzahl der Seiten

7

Publikationsdatum

12.2019

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Artificial intelligence, Maschinenbau, Steuerung und Optimierung, Modellierung und Simulation

Elektronische Version(en)

https://doi.org/10.1109/icar46387.2019.8981579 (Zugang: Geschlossen)