Constrained Passive Interaction Control: Leveraging Passivity and Safety for Robot Manipulators
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
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2024
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| _version_ | 1866929277851664384 |
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| author | Zhang, Zhiquan Li, Tianyu Figueroa, Nadia |
| author_facet | Zhang, Zhiquan Li, Tianyu Figueroa, Nadia |
| contents | Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe configurations upon physical perturbations. In this paper, we propose a novel control architecture that allows a torque-controlled robot to guarantee safety constraints such as kinematic limits, self-collisions, external collisions and singularities and is passive only when feasible. This is achieved by constraining a dynamical system based impedance control law with a relaxed hierarchical control barrier function quadratic program subject to multiple concurrent, possibly contradicting, constraints. Joint space constraints are formulated from efficient data-driven self- and external C^2 collision boundary functions. We theoretically prove constraint satisfaction and show that the robot is passive when feasible. Our approach is validated in simulation and real robot experiments on a 7DoF Franka Research 3 manipulator. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_09853 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Constrained Passive Interaction Control: Leveraging Passivity and Safety for Robot Manipulators Zhang, Zhiquan Li, Tianyu Figueroa, Nadia Robotics Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe configurations upon physical perturbations. In this paper, we propose a novel control architecture that allows a torque-controlled robot to guarantee safety constraints such as kinematic limits, self-collisions, external collisions and singularities and is passive only when feasible. This is achieved by constraining a dynamical system based impedance control law with a relaxed hierarchical control barrier function quadratic program subject to multiple concurrent, possibly contradicting, constraints. Joint space constraints are formulated from efficient data-driven self- and external C^2 collision boundary functions. We theoretically prove constraint satisfaction and show that the robot is passive when feasible. Our approach is validated in simulation and real robot experiments on a 7DoF Franka Research 3 manipulator. |
| title | Constrained Passive Interaction Control: Leveraging Passivity and Safety for Robot Manipulators |
| topic | Robotics |
| url | https://arxiv.org/abs/2403.09853 |