Paper Info
Title
Experimental Validation Of An Energy Constraint For A Safer Collaboration With Robots
Abstract
In this paper a platform dedicated to the measure of the energy dissipated by a robot during an impact is presented. This platform is used to validate a controller that explicitly constrains the robot kinetic energy thanks to a linear quadratic problem formulation. This constraint is used to ensure safety at the control level by computing intrinsically safe commands that comply with ISO norm 15066 on collaborative robot safety. This platform has been designed to validate this approach in case of a collision with an obstacle and is experimented on a KUKA LWR4+ robot.
Year
DOI
Venue
2018
10.1007/978-3-030-33950-0_49
PROCEEDINGS OF THE 2018 INTERNATIONAL SYMPOSIUM ON EXPERIMENTAL ROBOTICS
DocType
Volume
ISSN
Conference
11
2511-1256
Citations 
PageRank 
References 
0
0.34
0
Authors
3
Name
Order
Citations
PageRank
Lucas Joseph100.34
Vincent Padois2121.76
Guillaume Morel36215.01