Safety control of robots under Computed Torque control using reachable sets
- 1 May 2015
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE) in 2015 IEEE International Conference on Robotics and Automation (ICRA)
Abstract
A failsafe control strategy is presented for online safety certification of robot movements in a collaborative workspace with humans. This approach plans, predicts and uses formal guarantees on reachable sets of a robot arm and a human obstacle to verify the safety and feasibility of a trajectory in real time. The robots considered are serial link robots under Computed Torque schemes of control. We drastically reduce the computation time of our novel verification procedure through precomputation of non-linear terms and use of interval arithmetic, as well as representation of reachable sets by zonotopes, which scale easily to high dimensions and are easy to convert between joint space and Cartesian space. The approach is implemented in a simulation, to show that real time is computationally within reach.Keywords
This publication has 20 references indexed in Scilit:
- Online Verification of Automated Road Vehicles Using Reachability AnalysisIEEE Transactions on Robotics, 2014
- Formal and Compositional Analysis of Power Systems Using Reachable SetsIEEE Transactions on Power Systems, 2014
- Detection of robustly collision-free trajectories in unpredictable environments in real-timeAutonomous Robots, 2014
- Safe Human-Robot Cooperation in an Industrial EnvironmentInternational Journal of Advanced Robotic Systems, 2013
- Ensuring Human Safety with Offline Simulation and Real-time Workspace Surveillance to Develope a Hybrid Robot Assistance System for Welding of AssembliesPublished by Springer Science and Business Media LLC ,2011
- Motion ControlPublished by Springer Science and Business Media LLC ,2008
- The DLR lightweight robot: design and control concepts for robots in human environmentsIndustrial Robot: the international journal of robotics research and application, 2007
- A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint RobotsThe International Journal of Robotics Research, 2007
- A search for consensus among model parameters reported for the PUMA 560 robotPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- INTLAB — INTerval LABoratoryPublished by Springer Science and Business Media LLC ,1999