13
2011.
Safety-Oriented Control of Robotic Manipulators - a Kinematic Approach
Abstract In this paper, a control strategy for improving safety in human-robot interaction is described. The approach is based on the concept of kinetostatic danger field—a safety assessment recently proposed in the literature. A method for mapping the danger field information directly into position/velocity commands, thus bypassing the dynamics of the manipulator, is presented. Such an approach is suitable for industrial manipulators that usually require decentralized position control. Moreover, decoupling of task and posture behavior enables safety enhancement without compromising the task. The proposed control strategy is validated within a simulation study.