An Optimization Approach for a Robust and Flexible Control in\n Collaborative Applications

2021/03/04 by Federico Benzi, Benzi, Federico, Cristian Secchi +1
Business, Management and Accounting · Engineering · #Advanced Control Systems Optimization #Collaboration in agile enterprises #FOS: Computer and information sciences #Modular Robots and Swarm Intelligence #Robotics (cs.RO)

paper · pdf · doi:10.48550/arxiv.2103.03082

openalex publication_date 2021/03/04 · openalex created_date 2022/07/25 · openalex updated_date 2026/07/28

Abstract

In Human-Robot Collaboration, the robot operates in a highly dynamic\nenvironment. Thus, it is pivotal to guarantee the robust stability of the\nsystem during the interaction but also a high flexibility of the robot behavior\nin order to ensure safety and reactivity to the variable conditions of the\ncollaborative scenario. In this paper we propose a control architecture capable\nof maximizing the flexibility of the robot while guaranteeing a stable behavior\nwhen physically interacting with the environment. This is achieved by combining\nan energy tank based variable admittance architecture with control barrier\nfunctions. The proposed architecture is experimentally validated on a\ncollaborative robot.\n

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