Motion safety and constraints compatibility for multibody robots - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue Autonomous Robots Année : 2012

Motion safety and constraints compatibility for multibody robots

Résumé

In this paper we propose a methodology to ensure safe behaviors of multibody robots in reactive control frameworks. The permanent satisfaction of constraints being insufficient to ensure safety, this approach focuses on the constraints expression: the compatibility between these constraints is studied, and safe alternatives are ensured when compatibility cannot be established. Case studies involving obstacles, joint position, velocity and acceleration limits illustrates the approach. A particular method is developed to take full advantage of a smooth state of the art avoidance techniques (Faverjon and Tournassoud in Proceedings of the 1987 IEEE international conference on robotics and automation, pp. 1152-1159, 1987) while maintaining safety. Experiments involving a 6-DOF manipulator operating in a cluttered environment illustrate the reliability of the approach and validate the expected performances.
Fichier principal
Vignette du fichier
MotionSafetyRubrechtAR3.pdf (737 Ko) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-00719855 , version 1 (21-07-2012)

Identifiants

Citer

Sébastien Rubrecht, Vincent Padois, Philippe Bidaud, Michel de Broissia, Max da Silva Simoes. Motion safety and constraints compatibility for multibody robots. Autonomous Robots, 2012, 32 (3), pp.333-349. ⟨10.1007/s10514-011-9264-x⟩. ⟨hal-00719855⟩
475 Consultations
696 Téléchargements

Altmetric

Partager

Gmail Mastodon Facebook X LinkedIn More