Paper Info
Title
Constraint task-based control in industrial settings
Abstract
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.
Year
DOI
Venue
2009
10.1109/IROS.2009.5354631
IROS
Keywords
Field
DocType
controller flow,industrial robot,direct physical human-robot interaction,hierarchical structured control,central part,constraint least-square optimization,collaboration scenario,industrial setting,dynamic collision avoidance,constraint task-based control,arbitrary order,robotics,data mining,least square,orthogonal projection,collaboration,human robot interaction
Control theory,Orthographic projection,Computer science,Control engineering,Collision,Industrial robot,Artificial intelligence,Robot,Human–robot interaction,Robotics
Conference
Citations 
PageRank 
References 
3
0.43
15
Authors
4
Name
Order
Citations
PageRank
Claus Lenz1767.53
Markus Rickert221722.78
Giorgio Panin311914.18
Alois Knoll Knoll41700271.32