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Improving the Performance of Biomechanically Safe Velocity Control for Redundant Robots through Reflected Mass Minimization

Mansfeld, Nico and Djellab, Badis and Raldua Veuthey, Jaime and Beck, Fabian and Haddadin, Sami (2017) Improving the Performance of Biomechanically Safe Velocity Control for Redundant Robots through Reflected Mass Minimization. In: IEEE International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Kanada.

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Abstract

Ensuring safety is a primary goal in physical human-robot interaction. In various collision experiments it was found that the robot's effective mass, velocity, and geometry are the key parameters which influence the human injury severity during an impact. Recently, a velocity controller was proposed that limits the robot speed to a biomechanically safe value, taking into account the mass and the curvature in the direction of movement for a given point of interest. The mass and the geometry depend on the mechanical design, however, the effective mass also depends on the robot configuration. In this paper, we exploit the redundant degree(s) of freedom of a joint torque controlled seven- and eight-DOF robot to minimize the effective mass without affecting the desired Cartesian end-effector trajectory and with the goal to improve the performance of the safe velocity controller at the same time. Given recent results in robotics injury analysis, we analyze when such a redundancy resolution scheme actually improves safety. For the considered robots, we find reflected mass extrema that can be obtained by null space motions, and propose a real-time, torque-based redundancy resolution scheme, which is finally verified in experiments.

Item URL in elib:https://elib.dlr.de/117949/
Document Type:Conference or Workshop Item (Speech)
Title:Improving the Performance of Biomechanically Safe Velocity Control for Redundant Robots through Reflected Mass Minimization
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Mansfeld, NicoNico.Mansfeld (at) dlr.deUNSPECIFIED
Djellab, BadisUNSPECIFIEDUNSPECIFIED
Raldua Veuthey, JaimeUNSPECIFIEDUNSPECIFIED
Beck, FabianFabian.Beck (at) dlr.deUNSPECIFIED
Haddadin, Samisami.haddadin (at) irt.uni-hannover.deUNSPECIFIED
Date:2017
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:Safety, Redundancy, Null Space, Control
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:Vancouver, Kanada
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Mansfeld, Nico
Deposited On:11 Jan 2018 15:34
Last Modified:11 Jan 2018 15:34

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