In Human-Robot Collaboration, the robot operates in a highly dynamic environment. Thus, it is pivotal to guarantee the robust stability of the system during the interaction but also a high flexibility of the robot behavior in order to ensure safety and reactivity to the variable conditions of the collaborative scenario. In this paper we propose a control architecture capable of maximizing the flexibility of the robot while guaranteeing a stable behavior when physically interacting with the environment. This is achieved by combining an energy tank based variable admittance architecture with control barrier functions. The proposed architecture is experimentally validated on a collaborative robot.
翻译:在人类机器人协作项目中,机器人在高度动态的环境中运作。因此,在互动期间,确保系统稳健稳定,同时机器人行为具有高度灵活性,以确保安全和适应合作情景的可变条件,至关重要。在本文中,我们提出了一个控制架构,能够最大限度地发挥机器人的灵活性,同时保证与环境进行物理互动时的稳定行为。这是通过将基于能源罐的可变接收架构与控制屏障功能相结合来实现的。提议的架构将在协作机器人上进行实验验证。