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Whole-body collision avoidance control design using quadratic programming with strict and soft task priorities
KTH, School of Industrial Engineering and Management (ITM), Production Engineering.ORCID iD: 0000-0002-4032-4830
KTH, School of Industrial Engineering and Management (ITM), Production Engineering.ORCID iD: 0000-0001-8679-8049
2020 (English)In: Robotics and Computer-Integrated Manufacturing, ISSN 0736-5845, E-ISSN 1879-2537, Vol. 62, article id 101882Article in journal (Refereed) Published
Abstract [en]

Despite safe mechanical design is necessary for the collaborative robots, we can not underestimate the importance of active safety due to a multi-objective control design. Active safety not only complements the mechanical compliance but also enables classical industrial robots the ability to fulfill additional task-space objectives. Using the gradient of the collision avoidance task as hard constraints of a quadratic programming (QP) controller, we assign strict priority to avoid collisions and specify other QP controller objectives with soft task priorities. Through experiments performed on a dual-arm robot, we show that the proposed solution is able to generate safe robot motion that fulfills the task specifications while keeping the feasibility of the underlying quadratic optimization problem.

Place, publisher, year, edition, pages
Elsevier, 2020. Vol. 62, article id 101882
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-266171DOI: 10.1016/j.rcim.2019.101882ISI: 000501405400006Scopus ID: 2-s2.0-85073568052OAI: oai:DiVA.org:kth-266171DiVA, id: diva2:1385171
Note

QC 20200113

Available from: 2020-01-13 Created: 2020-01-13 Last updated: 2020-01-13Bibliographically approved

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Wang, YuquanWang, Lihui

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