Skip to main content

Lund University Publications

LUND UNIVERSITY LIBRARIES

Null-Space Compliance Variation for Safe Human-Robot Collaboration in Redundant Manipulators using Safety Control Barrier Functions

Salt Ducaju, Julian LU orcid ; Olofsson, Björn LU ; Robertsson, Anders LU and Johansson, Rolf LU orcid (2023) p.5903-5909
Abstract
In this paper, Safety Control Barrier Functions (SCBFs) were used to adjust the null-space compliant behavior of a redundant robot to improve safety in Human–Robot Collaboration (HRC) without modifying the robot behavior with respect to its main Cartesian task. A Lyapunov function was included in an energy storage formulation compatible with strict passivity to provide global asymptotic stability guarantees for the null-space compliance variation, and the necessary conditions for stability were formulated as inequality constraints of the optimization problem used for the null-space compliance variation. Experimental validation was performed using a Franka Emika Panda robot for a collaborative assembly application and its results showed... (More)
In this paper, Safety Control Barrier Functions (SCBFs) were used to adjust the null-space compliant behavior of a redundant robot to improve safety in Human–Robot Collaboration (HRC) without modifying the robot behavior with respect to its main Cartesian task. A Lyapunov function was included in an energy storage formulation compatible with strict passivity to provide global asymptotic stability guarantees for the null-space compliance variation, and the necessary conditions for stability were formulated as inequality constraints of the optimization problem used for the null-space compliance variation. Experimental validation was performed using a Franka Emika Panda robot for a collaborative assembly application and its results showed that safety can be improved by using SCBFs simultaneously to the optimization of the robot configuration, while employing a single degree of freedom. (Less)
Please use this url to cite or link to this publication:
author
; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
Proc. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023)
pages
7 pages
external identifiers
  • scopus:85182526597
DOI
10.1109/IROS55552.2023.10342181
project
Human-Robot Collaboration for Kinesthetic Teaching
RobotLab LTH
language
English
LU publication?
yes
id
0a9580e9-55fc-4527-813b-b4b7c97c2f64
date added to LUP
2023-12-04 10:09:05
date last changed
2024-03-08 14:33:18
@inproceedings{0a9580e9-55fc-4527-813b-b4b7c97c2f64,
  abstract     = {{In this paper, Safety Control Barrier Functions (SCBFs) were used to adjust the null-space compliant behavior of a redundant robot to improve safety in Human–Robot Collaboration (HRC) without modifying the robot behavior with respect to its main Cartesian task. A Lyapunov function was included in an energy storage formulation compatible with strict passivity to provide global asymptotic stability guarantees for the null-space compliance variation, and the necessary conditions for stability were formulated as inequality constraints of the optimization problem used for the null-space compliance variation. Experimental validation was performed using a Franka Emika Panda robot for a collaborative assembly application and its results showed that safety can be improved by using SCBFs simultaneously to the optimization of the robot configuration, while employing a single degree of freedom.}},
  author       = {{Salt Ducaju, Julian and Olofsson, Björn and Robertsson, Anders and Johansson, Rolf}},
  booktitle    = {{Proc. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023)}},
  language     = {{eng}},
  pages        = {{5903--5909}},
  title        = {{Null-Space Compliance Variation for Safe Human-Robot Collaboration in Redundant Manipulators using Safety Control Barrier Functions}},
  url          = {{https://lup.lub.lu.se/search/files/166086728/IROS2023_reviewed_clean_shortened_6_.pdf}},
  doi          = {{10.1109/IROS55552.2023.10342181}},
  year         = {{2023}},
}