TY - GEN
T1 - Constraint task-based control in industrial settings
AU - Lenz, Claus
AU - Rickert, Markus
AU - Panin, Giorgio
AU - Knoll, Alois
PY - 2009/12/11
Y1 - 2009/12/11
N2 - Direct physical human-robot interaction has become a central part in the research field of robotics today. To use the advantages of the potential for humans and robots to work together as a team in industrial settings, the most important issues are safety for the human and an easy way to describe tasks for the robot. In this work, we present an approach of a hierarchical structured control of industrial robots for joint-action scenarios. Multiple atomic tasks including dynamic collision avoidance, operational position, and posture can be combined in an arbitrary order respecting constraints of higher priority tasks. The controller flow is based on the theory of orthogonal projection using nullspaces and constraint least-square optimization. To proof the approach, we present three collaboration scenarios between a human and an industrial robot.
AB - Direct physical human-robot interaction has become a central part in the research field of robotics today. To use the advantages of the potential for humans and robots to work together as a team in industrial settings, the most important issues are safety for the human and an easy way to describe tasks for the robot. In this work, we present an approach of a hierarchical structured control of industrial robots for joint-action scenarios. Multiple atomic tasks including dynamic collision avoidance, operational position, and posture can be combined in an arbitrary order respecting constraints of higher priority tasks. The controller flow is based on the theory of orthogonal projection using nullspaces and constraint least-square optimization. To proof the approach, we present three collaboration scenarios between a human and an industrial robot.
UR - http://www.scopus.com/inward/record.url?scp=76249130470&partnerID=8YFLogxK
U2 - 10.1109/IROS.2009.5354631
DO - 10.1109/IROS.2009.5354631
M3 - Conference contribution
AN - SCOPUS:76249130470
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 3058
EP - 3063
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -