Harder, Marie Christin und Iskandar, Maged Samuel Zakri und Lee, Jinoh und Dietrich, Alexander (2023) Extensions to Dynamically-Consistent Collision Reaction Control for Collaborative Robots. In: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023. IEEE. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023-10-01 - 2023-10-05, Detroit, MI, USA. doi: 10.1109/IROS55552.2023.10341950. ISBN 978-166549190-7. ISSN 2153-0858.
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Offizielle URL: https://ieeexplore.ieee.org/document/10341950/
Kurzfassung
Since modern robots are supposed to work closely together with humans, physical human-robot interaction is gaining importance. One crucial aspect for safe collaboration is a robust collision reaction strategy that is triggered after an unintentional physical contact. In this work, we propose a dynamically-consistent collision reaction controller, where the reactive motion is performed in one particular desired direction in Cartesian space, without disturbing the remaining ones. This results in more intuitive and more predictable behavior of the end-effector. In addition, the proposed reaction control law is independent of contact and internal observer dynamics used for collision detection. The theoretical claims are validated in simulation and experiments. The proposed reaction controller is experimentally compared with a conventional approach for collision reaction. All experiments have been conducted on a torque controlled KUKA LWR IV+ lightweight robot.
elib-URL des Eintrags: | https://elib.dlr.de/201019/ | ||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag, Poster) | ||||||||||||||||||||
Titel: | Extensions to Dynamically-Consistent Collision Reaction Control for Collaborative Robots | ||||||||||||||||||||
Autoren: |
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Datum: | 2023 | ||||||||||||||||||||
Erschienen in: | 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023 | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||
DOI: | 10.1109/IROS55552.2023.10341950 | ||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||
ISSN: | 2153-0858 | ||||||||||||||||||||
ISBN: | 978-166549190-7 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Physical Human-Robot Interaction; Safety in HRI; Robot Safety | ||||||||||||||||||||
Veranstaltungstitel: | 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) | ||||||||||||||||||||
Veranstaltungsort: | Detroit, MI, USA | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 1 Oktober 2023 | ||||||||||||||||||||
Veranstaltungsende: | 5 Oktober 2023 | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Roboterdynamik & Simulation [RO] | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||
Hinterlegt von: | Harder, Marie Christin | ||||||||||||||||||||
Hinterlegt am: | 12 Dez 2023 19:55 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 21:01 |
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