论文标题
使用基于混蛋的安全集算法的安全互动工业机器人
Safe Interactive Industrial Robots using Jerk-based Safe Set Algorithm
论文作者
论文摘要
提高生产线的灵活性的需求是呼吁机器人与人类工人合作。但是，现有的交互式工业机器人仅保证内在安全性（减少碰撞影响），但不能保证交互式安全性（避免碰撞），这极大地限制了它们的灵活性。该问题源于工业机器人现有控制软件的两个限制：1）缺乏对实时轨迹修改的支持； 2）缺乏在机器人动态限制下避免碰撞的智能安全控制算法。为了解决第一个问题，以前开发了一个混蛋的位置控制器（JPC）。本文解决了JPC之上的第二个限制。具体来说，我们引入了基于混蛋的安全集算法（JSSA），以确保在考虑机器人动态约束时避免碰撞。 JSSA极大地扩展了原始安全集算法的范围，该算法仅应用于具有无限加速度的二阶系统。 JSSA在FANUC LR MATE 200ID/7L机器人上实现，并通过HRI任务进行了验证。实验表明，JSSA可以在执行指定任务的同时，将机器人始终如一地保持与人的安全距离。
The need to increase the flexibility of production lines is calling for robots to collaborate with human workers. However, existing interactive industrial robots only guarantee intrinsic safety (reduce collision impact), but not interactive safety (collision avoidance), which greatly limited their flexibility. The issue arises from two limitations in existing control software for industrial robots: 1) lack of support for real-time trajectory modification; 2) lack of intelligent safe control algorithms with guaranteed collision avoidance under robot dynamics constraints. To address the first issue, a jerk-bounded position controller (JPC) was developed previously. This paper addresses the second limitation, on top of the JPC. Specifically, we introduce a jerk-based safe set algorithm (JSSA) to ensure collision avoidance while considering the robot dynamics constraints. The JSSA greatly extends the scope of the original safe set algorithm, which has only been applied for second-order systems with unbounded accelerations. The JSSA is implemented on the FANUC LR Mate 200id/7L robot and validated with HRI tasks. Experiments show that the JSSA can consistently keep the robot at a safe distance from the human while executing the designated task.
