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Journal Articles IEEE International Conference on Robotics and Automation (ICRA) Year : 2017

Towards X-ray medical imaging with robots in the open: safety without compromising performances

Abstract

— In this paper, a control solution featuring an energetic constraint is developed to improve the safety of a robotic manipulator sharing its workspace with humans. This general control structure, exploits a generic safe controller that ensures the respect of multiple constraints thanks to a Linear Quadratic Problem formulation. With a unified energetic formulation, the controller allows to explicitly limit both the kinetic energy when moving and the wrench applied to the environment in case of contact with and unexpected obstacle. It is experimented on a redundant Kuka LWR4+ robot which end-effector shall precisely point toward a given location while following a trajectory.
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Dates and versions

hal-01614508 , version 1 (11-10-2017)
hal-01614508 , version 2 (23-02-2018)

Identifiers

  • HAL Id : hal-01614508 , version 1

Cite

Lucas Joseph, Vincent Padois, Guillaume Morel. Towards X-ray medical imaging with robots in the open: safety without compromising performances. IEEE International Conference on Robotics and Automation (ICRA), In press. ⟨hal-01614508v1⟩
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