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Extensions to Dynamically-Consistent Collision Reaction Control for Collaborative Robots

Harder, Marie Christin and Iskandar, Maged Samuel Zakri and Lee, Jinoh and 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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Official URL: https://ieeexplore.ieee.org/document/10341950/

Abstract

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.

Item URL in elib:https://elib.dlr.de/201019/
Document Type:Conference or Workshop Item (Speech, Poster)
Title:Extensions to Dynamically-Consistent Collision Reaction Control for Collaborative Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Harder, Marie ChristinUNSPECIFIEDhttps://orcid.org/0000-0001-7188-7233151364932
Iskandar, Maged Samuel ZakriUNSPECIFIEDhttps://orcid.org/0000-0003-0644-0659UNSPECIFIED
Lee, JinohUNSPECIFIEDhttps://orcid.org/0000-0002-4901-7095UNSPECIFIED
Dietrich, AlexanderUNSPECIFIEDhttps://orcid.org/0000-0003-3463-5074151364933
Date:2023
Journal or Publication Title:2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI:10.1109/IROS55552.2023.10341950
Publisher:IEEE
ISSN:2153-0858
ISBN:978-166549190-7
Status:Published
Keywords:Physical Human-Robot Interaction; Safety in HRI; Robot Safety
Event Title:2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Detroit, MI, USA
Event Type:international Conference
Event Start Date:1 October 2023
Event End Date:5 October 2023
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Harder, Marie Christin
Deposited On:12 Dec 2023 19:55
Last Modified:24 Apr 2024 21:01

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