Demonstrating a Control Framework for Physical Human-Robot Interaction Toward Industrial Applications
Fuente:
arXiv
Enregistré dans:
| Auteurs principaux: | , , , |
|---|---|
| Format: | Preprint |
| Publié: |
2025
|
| Sujets: | |
| Accès en ligne: | |
| Tags: |
Ajouter un tag
Pas de tags, Soyez le premier à ajouter un tag!
|
| _version_ | 1866912378360168448 |
|---|---|
| author | Muraccioli, Bastien Celerier, Mathieu Benallegue, Mehdi Venture, Gentiane |
| author_facet | Muraccioli, Bastien Celerier, Mathieu Benallegue, Mehdi Venture, Gentiane |
| contents | Physical Human-Robot Interaction (pHRI) is critical for implementing Industry 5.0, which focuses on human-centric approaches. However, few studies explore the practical alignment of pHRI to industrial-grade performance. This paper introduces a versatile control framework designed to bridge this gap by incorporating the torque-based control modes: compliance control, null-space compliance, and dual compliance, all in static and dynamic scenarios. Thanks to our second-order Quadratic Programming (QP) formulation, strict kinematic and collision constraints are integrated into the system as safety features, and a weighted hierarchy guarantees singularity-robust task tracking performance. The framework is implemented on a Kinova Gen3 collaborative robot (cobot) equipped with a Bota force/torque sensor. A DualShock 4 game controller is attached to the robot's end-effector to demonstrate the framework's capabilities. This setup enables seamless dynamic switching between the modes, and real-time adjustments of parameters, such as transitioning between position and torque control or selecting a more robust custom-developed low-level torque controller over the default one. Built on the open-source robotic control software mc_rtc, our framework ensures reproducibility for both research and industrial deployment, this framework demonstrates a step toward industrial-grade performance and repeatability, showcasing its potential as a robust pHRI control system for industrial environments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2502_02967 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Demonstrating a Control Framework for Physical Human-Robot Interaction Toward Industrial Applications Muraccioli, Bastien Celerier, Mathieu Benallegue, Mehdi Venture, Gentiane Robotics Systems and Control Physical Human-Robot Interaction (pHRI) is critical for implementing Industry 5.0, which focuses on human-centric approaches. However, few studies explore the practical alignment of pHRI to industrial-grade performance. This paper introduces a versatile control framework designed to bridge this gap by incorporating the torque-based control modes: compliance control, null-space compliance, and dual compliance, all in static and dynamic scenarios. Thanks to our second-order Quadratic Programming (QP) formulation, strict kinematic and collision constraints are integrated into the system as safety features, and a weighted hierarchy guarantees singularity-robust task tracking performance. The framework is implemented on a Kinova Gen3 collaborative robot (cobot) equipped with a Bota force/torque sensor. A DualShock 4 game controller is attached to the robot's end-effector to demonstrate the framework's capabilities. This setup enables seamless dynamic switching between the modes, and real-time adjustments of parameters, such as transitioning between position and torque control or selecting a more robust custom-developed low-level torque controller over the default one. Built on the open-source robotic control software mc_rtc, our framework ensures reproducibility for both research and industrial deployment, this framework demonstrates a step toward industrial-grade performance and repeatability, showcasing its potential as a robust pHRI control system for industrial environments. |
| title | Demonstrating a Control Framework for Physical Human-Robot Interaction Toward Industrial Applications |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2502.02967 |