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Manipulator Performance Constraints for Human-Robot Cooperation - Singularity avoidance [ICRA 2016]

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Published on Jan 23, 2016

Title: Manipulator Performance Constraints in Cartesian Admittance Contol for Human-Robot Cooperation

Authors: Fotios Dimeas, Vassilis C. Moulianitis, Charalampos Papakonstantinou and Nikos Aspragathos

Authors are with the Robotics Group, Dept. of Mechanical Engineering & Aeronautics, University of Patras, 26500 Patra, Greece. Vassilis C. Moulianitis is with the Dept. of Product and Systems Design Eng, University of the Aegean, 84100 Syros, Greece. Fotios Dimeas is funded by ”IKY fellowships of excellence for postgraduate studies in Greec - Siemens program”.

Appears in ICRA 2016 – IEEE International Conference on Robotics and Automation, Stockholm Sweeden 16-21 May

Abstract:
This paper addresses the problem of providing feedback to the operator about the manipulator’s performance during human-robot physical interaction. A method is proposed that implements virtual constraints in Cartesian admittance control in order to prevent the operator from guiding the manipulator to low-performance configurations. The constraints are forces expressed in the Cartesian frame, which restrict the translation of the end-effector when the operator guides the robot below a certain performance threshold. These forces are calculated online by numerically approximating the gradient of the performance index with respect to the Cartesian frame attached to the end-effector. An experimental evaluation is conducted involving human-robot interaction with a 7-DOF LWR manipulator under Cartesian admittance control, using the kinematic manipulability index of the manipulator as the performance measure for singularity avoidance.

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