Motion safety and constraints compatibility for multibody robots

  • Authors:

  • Sébastien Rubrecht;Vincent Padois;Philippe Bidaud;Michel Broissia;Max Da Silva Simoes

  • Affiliations:

  • Bouygues Travaux Publics, St Quentin en Yvelines, France;Institut des Systèmes Intelligents et de Robotique, Université Pierre et Marie Curie, Paris, France;Institut des Systèmes Intelligents et de Robotique, Université Pierre et Marie Curie, Paris, France;Bouygues Travaux Publics, St Quentin en Yvelines, France;LIST, Interactive Robotics Laboratory, Commissariat à l'Energie Atomique et aux Energies Alternatives, CEA, Fontenay aux Roses, France 92265

  • Venue:
  • Autonomous Robots
  • Year:
  • 2012

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Abstract

In this paper we propose a methodology to ensure safe behaviors of multibody robots in reactive control frameworks. The permanent satisfaction of constraints being insufficient to ensure safety, this approach focuses on the constraints expression: the compatibility between these constraints is studied, and safe alternatives are ensured when compatibility cannot be established. Case studies involving obstacles, joint position, velocity and acceleration limits illustrates the approach. A particular method is developed to take full advantage of a smooth state of the art avoidance techniques (Faverjon and Tournassoud in Proceedings of the 1987 IEEE international conference on robotics and automation, pp.聽1152---1159, 1987) while maintaining safety. Experiments involving a 6-DOF manipulator operating in a cluttered environment illustrate the reliability of the approach and validate the expected performances.