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Robot Cartesian Compliance Variation for Safe Kinesthetic Teaching using Safety Control Barrier Functions

Salt Ducaju, Julian LU orcid ; Olofsson, Björn LU ; Robertsson, Anders LU and Johansson, Rolf LU orcid (2022) IEEE 18th International Conference on Automation Science and Engineering (IEEE CASE2022) p.2259-2259
Abstract
Kinesthetic teaching allows human operators to reprogram part of a robot’s trajectory by manually guiding the robot. To allow kinesthetic teaching, and also to avoid any harm to both the robot and its environment, Cartesian impedance control is here used for trajectory following. In this paper, we present an online method to modify the compliant behavior of a robot toward its environment, so that undesired parts of the robot’s workspace are avoided during kinesthetic teaching. The stability of the method is guaranteed by a well-known passivity-based energy-storage formulation that has been modified to include a strict Lyapunov function, i.e., its time derivative is a globally negative-definite function. Safety Control Barrier Functions... (More)
Kinesthetic teaching allows human operators to reprogram part of a robot’s trajectory by manually guiding the robot. To allow kinesthetic teaching, and also to avoid any harm to both the robot and its environment, Cartesian impedance control is here used for trajectory following. In this paper, we present an online method to modify the compliant behavior of a robot toward its environment, so that undesired parts of the robot’s workspace are avoided during kinesthetic teaching. The stability of the method is guaranteed by a well-known passivity-based energy-storage formulation that has been modified to include a strict Lyapunov function, i.e., its time derivative is a globally negative-definite function. Safety Control Barrier Functions (SCBFs) that consider the rigid-body dynamics of the robot are formulated as inequality constraints of a quadratic optimization (QP) problem to ensure forward invariance of the robot’s states in a safe set. An experimental evaluation using a Franka Emika Panda robot is provided. (Less)
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author
; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
Proc. 2022 IEEE 18th International Conference on Automation Science and Engineering (CASE), August 20-24, 2022. Mexico City, Mexico
pages
2266 pages
conference name
IEEE 18th International Conference on Automation Science and Engineering (IEEE CASE2022)
conference location
Mexico City, Mexico
conference dates
2022-08-20 - 2022-08-24
external identifiers
  • scopus:85141737099
DOI
10.1109/CASE49997.2022.9926525
project
Human-Robot Collaboration for Kinesthetic Teaching
RobotLab LTH
ELLIIT LU P06: Collaborative Robotic Systems
WASP: Wallenberg AI, Autonomous Systems and Software Program at Lund University
language
English
LU publication?
yes
id
4252487f-a24f-489f-9a1e-350b2ce2223e
date added to LUP
2022-11-01 12:46:12
date last changed
2023-11-19 22:20:24
@inproceedings{4252487f-a24f-489f-9a1e-350b2ce2223e,
  abstract     = {{Kinesthetic teaching allows human operators to reprogram part of a robot’s trajectory by manually guiding the robot. To allow kinesthetic teaching, and also to avoid any harm to both the robot and its environment, Cartesian impedance control is here used for trajectory following. In this paper, we present an online method to modify the compliant behavior of a robot toward its environment, so that undesired parts of the robot’s workspace are avoided during kinesthetic teaching. The stability of the method is guaranteed by a well-known passivity-based energy-storage formulation that has been modified to include a strict Lyapunov function, i.e., its time derivative is a globally negative-definite function. Safety Control Barrier Functions (SCBFs) that consider the rigid-body dynamics of the robot are formulated as inequality constraints of a quadratic optimization (QP) problem to ensure forward invariance of the robot’s states in a safe set. An experimental evaluation using a Franka Emika Panda robot is provided.}},
  author       = {{Salt Ducaju, Julian and Olofsson, Björn and Robertsson, Anders and Johansson, Rolf}},
  booktitle    = {{Proc. 2022 IEEE 18th International Conference on Automation Science and Engineering (CASE), August 20-24, 2022. Mexico City, Mexico}},
  language     = {{eng}},
  pages        = {{2259--2259}},
  title        = {{Robot Cartesian Compliance Variation for Safe Kinesthetic Teaching using Safety Control Barrier Functions}},
  url          = {{https://lup.lub.lu.se/search/files/160718440/CASE22_reviewed_4_.pdf}},
  doi          = {{10.1109/CASE49997.2022.9926525}},
  year         = {{2022}},
}