Safety Barrier Functions for Human-Robot Interaction with Industrial Manipulators
Safety Barrier Functions for Human-Robot Interaction with Industrial Manipulators
复制标题
工业机械手人机交互的安全屏障功能
DOI：
10.23919/ecc.2019.8796235
复制
发表时间：
2019
期刊：
影响因子：
--
通讯作者：
C. Secchi
中科院分区：
文献类型：
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作者：
Chiara Talignani Landi;F. Ferraguti;S. Costi;M. Bonfè;C. Secchi
人机交互模式的变化允许将机器人放置在人类操作员附近，创造共享的工作环境。工业机械手正在成为不同工业任务中的人类助手。因此，人的安全在控制算法的发展中起着主导作用。在本文中，我们提出了一种基于优化的算法，允许避免障碍物，同时最大限度地减少标称加速度输入和命令之间的差异。安全屏障围绕机器人连杆构建，并允许整个机器人身体产生无碰撞运动。该算法在通用机器人UR5上实现，以验证所提出的方法。
A change in the paradigm of Human-Robot Interaction has allowed to place robots nearby human operators, creating shared working environments. Industrial manipulators are becoming human helpers in different industrial tasks. As a consequence, human safety plays a leading role in the development of control algorithms. In this paper we propose an optimization-based algorithm that allows to avoid obstacles while minimizing the difference between the nominal acceleration input and the commanded one. Safety barriers are built around the robot links and allow to generate collision-free movements of the whole robot body. The algorithm is implemented on an Universal Robots UR5 in order to validate the proposed approach.