1. A framework for intuitive collaboration with a mobile manipulator
- Author
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Andrea Cherubini, Aïcha Fonte, Benjamin Navarro, Philippe Fraisse, Gérard Poisson, Interactive Digital Humans (IDH), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Département Images, Robotique, Automatique et Signal [Orléans] (IRAUS), Laboratoire pluridisciplinaire de recherche en ingénierie des systèmes, mécanique et énergétique (PRISME), Université d'Orléans (UO)-Institut National des Sciences Appliquées - Centre Val de Loire (INSA CVL), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université d'Orléans (UO)-Institut National des Sciences Appliquées - Centre Val de Loire (INSA CVL), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA), and ANR-14-CE27-0016,SISCob,Capteur de Sécurité intelligente pour la Cobotique(2014)
- Subjects
0209 industrial biotechnology ,Engineering ,Physical human-robot interaction ,business.industry ,Mobile manipulator ,020207 software engineering ,Control engineering ,Robotics and Control ,Redundancy Resolution ,02 engineering and technology ,Computer Science::Robotics ,Angular deviation ,020901 industrial engineering & automation ,0202 electrical engineering, electronic engineering, information engineering ,Redundancy (engineering) ,[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] ,Robot ,[INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC] ,Human operator ,business ,Omnidirectional antenna - Abstract
International audience; In this paper, we present a control strategy that enables intuitive physical human-robot collaboration with mobile manipulators equipped with an omnidirectional base. When interacting with a human operator, intuitiveness of operation is a major concern. To this end, we propose a redundancy solution that allows the mobile base to be fixed when working locally and moves it only when the robot approaches a set of constraints. These constraints include distance to singular poses, minimum of manipulability and distance to objects and angular deviation. Experimental results with a Kuka LWR4 arm mounted on a Neobotix MPO700 mobile base validate the proposed approach.
- Published
- 2017
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