Abstract
Avoidance of low performance configurations for robotic manipulators such as a singularity during physical human-robot interaction, is a crucial issue for effective cooperation. Performance constraints is a framework for online calculation of repulsive forces in the task space so that the robot does not allow the human to guide it to singularities. However, this repulsive field is configuration dependent and non-conservative, so energy can be injected to the system. In this paper we build upon performance constraints, utilizing a handling mechanism to monitor the energy flow of the system and dissipate the excessive energy. Moreover, the equivalent task space stiffness of performance constraints is determined and the appropriate damping is calculated for the desired dynamic behavior of the robot, so that no oscillations appear that can have a negative effect in the haptic feeling of the operator. This damping is the required minimum so that no over-damped behavior is observed, making the robot cumbersome to manipulate. The proposed method is verified experimentally in a redundant manipulator during physical interaction with a human.
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Notes
- 1.
Video from the experiment: https://youtu.be/OgLwfo6z1GU.
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Acknowledgment
This research is co-financed by Greece and the European Union (European Social Fund- ESF) through the Operational Programme “Human Resources Development, Education and Lifelong Learning” in the context of the project “Reinforcement of Postdoctoral Researchers - 2nd Cycle” (MIS-5033021), implemented by the State Scholarships Foundation (IKY).
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Dimeas, F. (2021). Singularity Avoidance in Human-Robot Collaboration with Performance Constraints. In: Saveriano, M., Renaudo, E., Rodríguez-Sánchez, A., Piater, J. (eds) Human-Friendly Robotics 2020. HFR 2020. Springer Proceedings in Advanced Robotics, vol 18. Springer, Cham. https://doi.org/10.1007/978-3-030-71356-0_7
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