In human-robot interaction, the robot must behave safely, especially when an operator is present in its workspace. Even higher safety levels must be attained when physical contact occurs between the two. To this end, standards such as the ISO10218 define the requirements for a robot to be considered safe for interaction with human operators in an industrial environment. In this paper, we propose an adaptive damping controller that fulfills the ISO10218 requirements by limiting the tool velocity, power and contact force online (and only when needed). The controller is experimentally validated on a hand-arm robotic system, in a mock-up collaborative application. For the hand, safe interaction is enhanced by using tactile sensing, both to regulate grasp forces and to provide an intuitive interface for the operator.
In this paper, we present a control strategy that enables intuitive physical human-robot collaboration with mobile manipulators equipped with an omnidirectional base. When interacting with a human operator, intuitiveness of operation is a major concern. To this end, we propose a redundancy solution that allows the mobile base to be fixed when working locally and moves it only when the robot approaches a set of constraints. These constraints include distance to singular poses, minimum of manipulability and distance to objects and angular deviation. Experimental results with a Kuka LWR4 arm mounted on a Neobotix MPO700 mobile base validate the proposed approach.
This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination. 3 IEEE ROBOTICS & AUTOMATION MAGAZINE • JUNE 2018 impact with the operator. Ideally, both solutions should be combined to provide the highest level of safety. Although pHRI has been extensively investigated by the research community, to the best of our knowledge, no general open-source software solution exists to date. Thus, each research team or industrial organization is forced to develop its own applications, limiting the adoption, benchmarking, and growth of pHRI in the community. So the main motivation behind OpenPHRI is to provide a full-featured, opensource software library that can also be easily extended to develop pHRI applications. Overview of the Library The controller, constraints, and inputs described in this article are all available in the OpenPHRI software library, distributed online [14] free of charge under the GNU Lesser General Public License version 3 (LGPLv3) [15]. This license allows integration with open-or closed-source software as long as any modifications made to the library are shared with the community. OpenPHRI is written in C++ to maximize efficiency in terms of computation and memory footprint and to easily embed it in existing projects. Python bindings are also provided, because this language is largely used in the robotics community and because it allows quick prototyping, as most computations are performed in machine language to keep computational times small. An interface with the robotics simulator Virtual Robot Experimentation Platform (V-REP) [16] is also furnished. The V-REP remote Application Programming Interface (API) library embedded in OpenPHRI has no particular license, so it does not violate the LGPLv3. A wrapper for the Robot Operating System framework will be released in the near future. Users can easily integrate other simulators, frameworks, and robots at will. The detailed hierarchy of the project is given in Table 1.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.
hi@scite.ai
10624 S. Eastern Ave., Ste. A-614
Henderson, NV 89052, USA
Copyright © 2024 scite LLC. All rights reserved.
Made with 💙 for researchers
Part of the Research Solutions Family.