Abstract
The control barrier function provides an efficient tool to ensure the safety of Human-robot interaction. In this paper, we represent the barrier function in the discrete-time form together with the control Lyapunov function for safety operation in human-robot coexisting environment. And we apply it to the kinematic control of the redundant degree-of-freedom manipulator in the task space without disturbing the robot’s job. Specially, we revise the definition of the minimum distance from each link to the human so that no collision happens on any link of the robot. The effectiveness of the control method is verified by simulation of controlling a planar three-link manipulator.
National Natural Science Foundation of China (U20A20282, 51875554, 51705510), Zhejiang Key R &D Plan (2018C01086), Zhejiang Key Lab of Robotics and Intelligent Manufacturing Equipment Technology (2015E10011), Equipment R &D Fund (6140923010102), and Ningbo S &T Innovation Key Project (2018D10010).
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Zhu, Y., Chen, S., Zhang, C., Piao, Z., Yang, G. (2022). Revised Discrete Control Barrier Functions for Safe Control of a Redundant DoF Manipulator. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13458. Springer, Cham. https://doi.org/10.1007/978-3-031-13841-6_48
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DOI: https://doi.org/10.1007/978-3-031-13841-6_48
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