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Online Active Safety for Robotic Manipulators

Singletary, Andrew and Nilsson, Petter and Gurriet, Thomas and Ames, Aaron D. (2019) Online Active Safety for Robotic Manipulators. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 173-178. ISBN 978-1-7281-4004-9. https://resolver.caltech.edu/CaltechAUTHORS:20200131-083400032

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Abstract

Future manufacturing environments will see an increased need for cooperation between humans and machines. In this paper we propose a method that allows industrial manipulators to safely operate around humans. This approach guarantees that the manipulator will never collide with human operators while performing its normal tasks. This is done in an near-optimal way by considering how forward reachable sets of human operators grow with time, and by continuously updating these reachable sets based on current position estimates of the operators near the robot. An implicit active set invariance filter is then used to constrain the system—in a minimally invasive way—to stay in the complement of that forward reachable set. We demonstrate this approach in simulation on an industrial robotic arm: the ABB IRB 6640.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/IROS40897.2019.8968231DOIArticle
ORCID:
AuthorORCID
Nilsson, Petter0000-0001-8748-6936
Gurriet, Thomas0000-0002-5240-3720
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2019 IEEE.
Record Number:CaltechAUTHORS:20200131-083400032
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20200131-083400032
Official Citation:A. Singletary, P. Nilsson, T. Gurriet and A. D. Ames, "Online Active Safety for Robotic Manipulators," 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019, pp. 173-178. doi: 10.1109/IROS40897.2019.8968231
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:101028
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:31 Jan 2020 17:51
Last Modified:31 Jan 2020 17:51

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