Development of a Safety- and Energy-Aware Impedance Controller for Collaborative Robots

Raiola, Gennaro; Cardenas, Carlos Alberto; Tadele, Tadele Shiferaw; Vries, Theo de; Stramigioli, Stefano

doi:10.1109/lra.2018.2795639

Cited by 77 publications

(50 citation statements)

References 29 publications

(49 reference statements)

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“…The robotic arm needs to avoid collisions with a moving obstacle which is described by a set O(t) ⊆ IR 3 . In order to guarantee that the robotic arm does not collide with the obstacle, we require that…”

Section: Mpc Formulationmentioning

confidence: 99%

“…The field of robotics has seen large growth in the area of collaborative robotics; robots working both with each other and with humans [1], [2]. While traditionally robots are operated in isolation or in harmony with other moving entities of explicit and unambiguous motion routines, this trend can create a highly unstructured shared workspace [3]. Humans can be unpredictable and it can be both complex and costly to integrate robotic systems in close proximity [4].…”

Section: Introductionmentioning

confidence: 99%

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Context-aware robotic arm using fast embedded model predictive control

Trimble

Naeem

McLoone

et al. 2020

2020 31st Irish Signals and Systems Conference (ISSC)

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The growing number of collaborative robotics in unstructured environments creates highly nonconvex nonlinear shared dynamical systems. For safety and speed, path planning and collision avoidance are of the utmost importance in these situations. We present a novel nonlinear MPC solution for use on a three-dimensional four-axis robotic manipulator. The system is the first of it's kind to take into account moving obstacles. Using the OpEn framework, optimisation is done by the PANOC and ALM techniques. Experimentation demonstrates extremely fast solver times on both PC and embedded platforms.

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Section: Mpc Formulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Context-aware robotic arm using fast embedded model predictive control

Trimble

Naeem

McLoone

et al. 2020

2020 31st Irish Signals and Systems Conference (ISSC)

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“…The impedance control approach [124][125][126] is employed when a mechatronic device is in contact with its environment or with a human. It is an important control concept in modern robotics that is demonstrated by numerous applications [127][128][129][130][131][132][133][134][135][136][137][138][139][140]. The mechanical impedance, which features a force response of a body or a system of bodies on imposed velocity or position, can be described as a force-velocity relationship or force-position relationship.…”

Section: The Impedance Controlmentioning

confidence: 99%

The Advanced Control Approach based on SMC Design for the High-Fidelity Haptic Power Lever of a Small Hybrid Electric Aircraft

Hace

2019

Energies

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In the serial hybrid electric propulsion system of a small propeller aircraft the battery state of charge is fluctuating due to the diversity of possible power flows. Overwhelming visual information on the cockpit displays, besides requiring visual pilot attention, increases pilot workload, which is undesirable, especially in risky flight situations. Haptic interfaces, on the other hand, can provide intuitive cues that can be applied to enhance and simplify the cockpit. In this paper, we deal with an enhanced power lever stick, which can provide feedback force feel with haptic cues for enhanced information flow between the pilot and the powertrain system. We present selected haptic patterns for specific information related to the fluctuating battery state of charge. The haptic patterns were designed to reduce pilot workload, and for easy use, safe and energy-efficient control of the hybrid electric powertrain system. We focus on the advanced control design for high-performance force feedback required for rendering fine haptic signals, which stimulates the sensitive haptics of a pilot’s hand-arm system. The presented control algorithm has been designed by the sliding mode control (SMC) approach in order to provide disturbance rejection and high-fidelity haptic rendering. The proposed control design has been validated on an experimental prototype system.

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“…e controller realizes safe human-machine cooperation through energy and power limitation and verifies the impedance using KUKA LWR 4+ arm [6]. e control algorithm provides an idea for the obstacle avoidance and collision algorithm of the debris robot and also provides a research direction for high-precision dynamic modeling.…”

Section: Introductionmentioning

confidence: 99%

Establishing the Improved Dynamic Model for the Extracorporeal Ultrasonic Lithotripsy Medical Cooperative Robot

Xiao

Gong

et al. 2020

Mathematical Problems in Engineering

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The calculus is one of the common diseases with high incidence. The effective treatment method is extracorporeal ultrasonic lithotripsy. At present, it is low about the intelligent and automatic level of the lithotripter, and it has gradually failed to meet the treatment needs. The extracorporeal ultrasonic lithotripsy medical cooperative robot can solve such problems effectively, and it is equally critical for accurate modeling studies of dynamic models. Based on the previous research and experimental basis, this paper proposes a correction theory to improve the accuracy of the dynamic model for the model error in collaborative robot work. The study first establishes the dynamic model and the solid model of the collaborative robot and then subtracts the value of the dynamic model from the solid model to obtain the modified equation. Finally, the accuracy of the dynamic model is improved by modifying the equation. The experiments show that the kinetic model correction theory is effective and can improve the accuracy of the dynamic model modeling after the correction of the torque equation. The experiments show that the improved dynamic model theory is effective and can improve the modeling accuracy of the dynamic model after the correction of the torque equation. The modified equation has the best correction effect in the 5th degree polynomial and can be used for the extracorporeal ultrasonic lithotripsy medical cooperative robot control.

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Development of a Safety- and Energy-Aware Impedance Controller for Collaborative Robots

Cited by 77 publications

References 29 publications

Context-aware robotic arm using fast embedded model predictive control

Context-aware robotic arm using fast embedded model predictive control

The Advanced Control Approach based on SMC Design for the High-Fidelity Haptic Power Lever of a Small Hybrid Electric Aircraft

Establishing the Improved Dynamic Model for the Extracorporeal Ultrasonic Lithotripsy Medical Cooperative Robot

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