Motion safety and constraints compatibility for multibody robots
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- 作者：S茅bastien Rubrecht (1) s.rubrecht@bouygues-construction.com
Vincent Padois (2) vincent.padois@isir.upmc.fr
Philippe Bidaud (2) philippe.bidaud@isir.upmc.fr
Michel de Broissia (1) m.debroissia@bouygues-construction.com
Max Da聽Silva聽Simoes (3) max.simoes@cea.fr - 关键词：Robotic constraints – ; Constraints compliant control – ; Motion safety – ; Multibody robot safety – ; Safe reactive control
- 刊名：Autonomous Robots
- 出版时间：April 2012
- 出版年：2012
- 期刊代码：16_09295593
- 类别：bio
- 卷：32
- 期：3
- 页码：333-349
- 数据来源：sp
摘要
In this paper we propose a methodology to ensure safe behaviors of multibody robots in reactive control frameworks. The permanent satisfaction of constraints being insufficient to ensure safety, this approach focuses on the constraints expression: the compatibility between these constraints is studied, and safe alternatives are ensured when compatibility cannot be established. Case studies involving obstacles, joint position, velocity and acceleration limits illustrates the approach. A particular method is developed to take full advantage of a smooth state of the art avoidance techniques (Faverjon and Tournassoud in Proceedings of the 1987 IEEE international conference on robotics and automation, pp. 1152–1159, 1987) while maintaining safety. Experiments involving a 6-DOF manipulator operating in a cluttered environment illustrate the reliability of the approach and validate the expected performances.