Jerk-bounded Position Controller with Real-Time Task Modification for Interactive Industrial Robots

Liu, Ruixuan; Chen, Rui; Sun, Yifan; Zhao, Yu; Liu, Changliu

doi:10.36227/techrxiv.18866423.v1

Cited by 1 publication

(4 citation statements)

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“…In addition, according to our practical experience, the position control interface requires a 1kHz communication for stable performance. Similar to the hardware implementation in [12], we have a Speedgoat baseline real-time target machine (SG) in between as shown in Fig. 4.…”

Section: Experiments Resultsmentioning

confidence: 99%

“…the real application of those methods is difficult since most industrial robot drivers do not provide the flexibility for executing the safe control algorithms during control loops. A jerk-bounded position control driver (JPC) [12] was developed previously, which provides a unified interface for robot control under dynamics constraints and enables real-time trajectory modification on industrial robots. The developed JPC enables high-frequency motion-level control and allows the integration of safe control algorithms.…”

Section: Introductionmentioning

confidence: 99%

“…2) This paper integrates the JSSA to JPC [12], which allows the safe control algorithm to run in a real-time control loop on industrial robots. 3) This paper studies the influence of JSSA's hyperparameters on the system performance through extensive sensitivity analysis.…”

Section: Introductionmentioning

confidence: 99%

“…Fig.4: JSSA Implementation Diagram. The nominal controller is the JPC[12] (purple) and the JSSA is integrated (orange). The integrated controller is deployed to the Speedgoat real-time target machine, which is connected in between of the host and the robot.…”

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Safe Interactive Industrial Robots using Jerk-based Safe Set Algorithm

Liu¹,

Chen²,

Liu³

2022

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The need to increase the flexibility of production lines is calling for robots to collaborate with human workers. However, existing interactive industrial robots only guarantee intrinsic safety (reduce collision impact), but not interactive safety (collision avoidance), which greatly limited their flexibility. The issue arises from two limitations in existing control software for industrial robots: 1) lack of support for real-time trajectory modification; 2) lack of intelligent safe control algorithms with guaranteed collision avoidance under robot dynamics constraints. To address the first issue, a jerk-bounded position controller (JPC) was developed previously. This paper addresses the second limitation, on top of the JPC. Specifically, we introduce a jerkbased safe set algorithm (JSSA) to ensure collision avoidance while considering the robot dynamics constraints. The JSSA greatly extends the scope of the original safe set algorithm, which has only been applied for second-order systems with unbounded accelerations. The JSSA is implemented on the FANUC LR Mate 200id/7L robot and validated with HRI tasks. Experiments show that the JSSA can consistently keep the robot at a safe distance from the human while executing the designated task.

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Section: Experiments Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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confidence: 99%

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