ISO/TS 15066 is globally recognized as the guideline for designing safe collaborative robotic cells, where human and robot collaborate in order to fulfill a common job. Current approaches for implementing the ISO/TS 15066 guidelines lead to a conservative behavior (e.g. low velocity) of the robot and, consequently, to poor performance of the collaborative cell. In this letter, we propose an approach based on control barrier functions that allows to maximize the performance of a robot acting in a collaborative cell while satisfying the ISO/TS 15066 regulations. The proposed approach has been successfully validated both in simulation and through experiments.

A Control Barrier Function Approach for Maximizing Performance while Fulfilling to ISO/TS 15066 Regulations

Bonfe' M.
Conceptualization
;
Fantuzzi C.
Project Administration
;
Secchi C.
Supervision
2020

Abstract

ISO/TS 15066 is globally recognized as the guideline for designing safe collaborative robotic cells, where human and robot collaborate in order to fulfill a common job. Current approaches for implementing the ISO/TS 15066 guidelines lead to a conservative behavior (e.g. low velocity) of the robot and, consequently, to poor performance of the collaborative cell. In this letter, we propose an approach based on control barrier functions that allows to maximize the performance of a robot acting in a collaborative cell while satisfying the ISO/TS 15066 regulations. The proposed approach has been successfully validated both in simulation and through experiments.
2020
Ferraguti, F.; Bertuletti, M.; Landi, C. T.; Bonfe', M.; Fantuzzi, C.; Secchi, C.
File in questo prodotto:
File Dimensione Formato  
paper_RAL_pre-final_MB.pdf

accesso aperto

Descrizione: Pre-print
Tipologia: Pre-print
Licenza: PUBBLICO - Pubblico con Copyright
Dimensione 1.08 MB
Formato Adobe PDF
1.08 MB Adobe PDF Visualizza/Apri
A_Control_Barrier_Function_Approach.pdf

solo gestori archivio

Descrizione: Full text editoriale
Tipologia: Full text (versione editoriale)
Licenza: NON PUBBLICO - Accesso privato/ristretto
Dimensione 1.53 MB
Formato Adobe PDF
1.53 MB Adobe PDF   Visualizza/Apri   Richiedi una copia

I documenti in SFERA sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11392/2422137
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 41
  • ???jsp.display-item.citation.isi??? 37
social impact