The QP form and the different constraints incompatibility cases

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Table of contents

1 Introduction, State-of-the-art and proposed contributions 
1.1 Motivation
1.2 Safe mechanical design
1.2.1 Flexible actuators
1.2.2 Lightweight Robotic Systems
1.3 Control
1.4 Safety standards
1.5 Discussion and proposed contributions
1.5.1 Considerations when dealing with safety during human-robot interaction
1.5.2 Considerations when dealing with constraints
1.6 Related Publications
2 Constraints incompatibility 
2.1 Introduction
2.1.1 The general problem
2.1.2 Dierent types of constraints
2.1.3 Corresponding literature
2.1.4 Contributions
2.2 The QP form and the different constraints incompatibility cases
2.2.1 Task formulation
2.2.2 Controller formulation
2.2.3 Articular constraints: naive formulations
2.3 Test case scenario for simulation
2.4 Articular constraints: new formulations
2.4.1 Joint velocity constraint incompatibility with jerk limits
2.4.1.1 Illustration 1
2.4.2 Joint position constraint incompatibility with deceleration and/or jerk limits
2.4.2.1 Joint position constraint incompatibility with deceleration limits
2.4.2.1.1 Illustration 2
2.4.2.2 Joint position constraint incompatibility with jerk limits 1 .
2.4.2.2.1 Illustration 3
2.4.2.3 Joint position constraint incompatibility with jerk limits 2 .
2.4.2.3.1 Illustration 4
2.4.2.4 Joint position constraint incompatibility with both deceleration and jerk limits 1
2.4.2.4.1 Illustration 5
2.4.2.5 Joint position constraint incompatibility with both jerk and deceleration limits 2
2.4.2.5.1 Illustration 6
2.5 Final bounds on the acceleration control variable
2.5.1 Illustration 7
2.6 Conclusion
3 Energy based safe control 
3.1 Introduction
3.2 Interaction forces and safety indicators
3.2.1 Kinetic energy
3.2.2 Potential energy
3.2.3 Relation between kinetic and potential energies
3.3 Safety limit values
3.3.1 Safety limit value for the pre-collision safety indicator
3.3.1.1 Pre-collision safety criterion extension
3.3.2 Safety limit value for the physical-contact safety indicator
3.4 Energy constraints implementation
3.5 Task energy prole
3.6 Safe dynamic controller
3.6.1 Task formulation
3.6.2 Constraints formulation
3.6.2.1 Articular constraints
3.6.2.2 Energy related constraints
3.6.3 Controller formulation
3.7 Simulation
3.7.1 Test case scenario
3.7.2 Scenario 1: obstacle intersecting with the trajectory of the robot and no constraints on its energy
3.7.3 Scenario 2: nearby obstacle not intersecting with the trajectory of the robot and constraint on its kinetic energy
3.7.4 Scenario 3: obstacle intersecting with the trajectory of the robot and constraint on its kinetic energy
3.7.5 Scenario 4: obstacle intersecting the trajectory of the robot and constraints on its kinetic and potential energies
3.7.6 Scenario 5: obstacle intersecting with the trajectory of the robot and constraint on its task energy prole
3.8 Conclusion
4 Safe human-robot interaction: experimental results 
4.1 Introduction
4.2 Experimental setup
4.3 Test case scenario
4.4 Human-robot interaction, scenario 1
4.5 Human-robot interaction, scenario 2
4.6 Human-robot interaction, scenario 3
4.7 Human-robot interaction, scenario 4
4.8 Conclusion
5 Conclusions and outlook 
5.1 Contributions
5.2 Perspectives
5.2.1 Extension of the work on the constraints incompatibility problem
5.2.2 Control of collaborative robots for safe human-robot interaction
Bibliography