Details
| Original language | English |
|---|---|
| Title of host publication | 2019 19th International Conference on Advanced Robotics, ICAR 2019 |
| Subtitle of host publication | Proceedings |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 185-191 |
| Number of pages | 7 |
| ISBN (electronic) | 978-1-7281-2467-4 |
| ISBN (print) | 978-1-7281-2468-1 |
| Publication status | Published - Dec 2019 |
| Event | 19th International Conference on Advanced Robotics, ICAR 2019 - Belo Horizonte, Brazil Duration: 2 Dec 2019 → 6 Dec 2019 |
Abstract
This paper handles the problem of including Cartesian and joint constraints in the stack of tasks for torque-controlled robots. A novel approach is proposed to handle Cartesian constraints and joint constraints on three different levels: position, velocity and acceleration. These constraints are included in the stack of tasks ensuring the maximum possible fulfillment of the tasks despite of the constraints. The algorithm proceeds by creating two tasks with the highest priority in a stack of tasks scheme. The highest priority task saturates the acceleration of the joints that would exceed their motion limits. The second highest priority task saturates the acceleration of the Cartesian directions that would exceed their motion limits. Experiments to test the performance of the algorithm are performed on the KUKA LBR iiwa.
ASJC Scopus subject areas
- Computer Science(all)
- Artificial Intelligence
- Engineering(all)
- Mechanical Engineering
- Mathematics(all)
- Control and Optimization
- Mathematics(all)
- Modelling and Simulation
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2019 19th International Conference on Advanced Robotics, ICAR 2019: Proceedings. Institute of Electrical and Electronics Engineers Inc., 2019. p. 185-191 8981579.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Physical Human-Robot Interaction under Joint and Cartesian Constraints
AU - Osorio, Juan D. Munoz
AU - Allmendinger, Felix
AU - Fiore, Mario D.
AU - Zimmermann, Uwe E.
AU - Ortmaier, Tobias
N1 - Funding Information: This work is partly supported by the European Community, within the MURAB project (Grant 688188).
PY - 2019/12
Y1 - 2019/12
N2 - This paper handles the problem of including Cartesian and joint constraints in the stack of tasks for torque-controlled robots. A novel approach is proposed to handle Cartesian constraints and joint constraints on three different levels: position, velocity and acceleration. These constraints are included in the stack of tasks ensuring the maximum possible fulfillment of the tasks despite of the constraints. The algorithm proceeds by creating two tasks with the highest priority in a stack of tasks scheme. The highest priority task saturates the acceleration of the joints that would exceed their motion limits. The second highest priority task saturates the acceleration of the Cartesian directions that would exceed their motion limits. Experiments to test the performance of the algorithm are performed on the KUKA LBR iiwa.
AB - This paper handles the problem of including Cartesian and joint constraints in the stack of tasks for torque-controlled robots. A novel approach is proposed to handle Cartesian constraints and joint constraints on three different levels: position, velocity and acceleration. These constraints are included in the stack of tasks ensuring the maximum possible fulfillment of the tasks despite of the constraints. The algorithm proceeds by creating two tasks with the highest priority in a stack of tasks scheme. The highest priority task saturates the acceleration of the joints that would exceed their motion limits. The second highest priority task saturates the acceleration of the Cartesian directions that would exceed their motion limits. Experiments to test the performance of the algorithm are performed on the KUKA LBR iiwa.
UR - http://www.scopus.com/inward/record.url?scp=85084282967&partnerID=8YFLogxK
U2 - 10.1109/icar46387.2019.8981579
DO - 10.1109/icar46387.2019.8981579
M3 - Conference contribution
AN - SCOPUS:85084282967
SN - 978-1-7281-2468-1
SP - 185
EP - 191
BT - 2019 19th International Conference on Advanced Robotics, ICAR 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 19th International Conference on Advanced Robotics, ICAR 2019
Y2 - 2 December 2019 through 6 December 2019
ER -