Joint Position Bounds in Resolved-Acceleration Control: a Comparison - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2023

Joint Position Bounds in Resolved-Acceleration Control: a Comparison

Résumé

The implementation of human-friendly robots is based on the deployment of robots that can safely and effectively work with humans in various environments. To this end, enforcing joint limits in planning and control play a fundamental role in avoiding the robot to exceed its physical constraint and preventing joint damages or failures that could lead to unpredictable behavior or compromised safety. However, the implementation of such limitations in instantaneous controllers is not trivial when position, velocity, and acceleration limits are all considered together. In this work, we compare three State-of-the-Art methods, namely the P-Step Ahead Predictor, the Control Barrier Function, and Invariance. Finally, we select the most performing one applied in a real use case based on a UR5e manipulator for a picking task where hitting joint limits may represent an issue.
Fichier principal
Vignette du fichier
HFR_2023_paper_12 (2).pdf (9.75 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-04177447 , version 1 (04-08-2023)
hal-04177447 , version 2 (18-08-2023)
hal-04177447 , version 3 (29-08-2023)

Identifiants

  • HAL Id : hal-04177447 , version 3

Citer

Andrea Testa, Luigi Raiano, Marco Laghi, Arash Ajoudani, Enrico Mingo Hoffman. Joint Position Bounds in Resolved-Acceleration Control: a Comparison. Workshop on Human-Friendly Robotics (HFR 2023), Sep 2023, Munich (Germany), Germany. ⟨hal-04177447v3⟩
141 Consultations
68 Téléchargements

Partager

Gmail Facebook X LinkedIn More