Energy budgets for coordinate invariant robot control in physical human–robot interaction

In this work we consider the current certification process of applications with physical human–robot interaction (pHRI). Two major hazards are collisions and clamping scenarios. The implementation safety measures in pHRI typically depends strongly on coordinates, e.g., to monitor robot velocity or predict external forces. We show that does not, general, guarantee a safe behavior. particular, unstructured environments it is not possible all risks advance. therefore propose control energy robot, which coordinate invariant entity. For an impedance controlled total consists potential kinetic energy. flow from task description follows strict causality. assign budget for robot. With budget, presented controller auto-tunes its parameters limit exchanged during collision contact, behaves compliantly eliminates danger. After automatically continues follow desired trajectory. approach number safety-related be determined can reduced one value, has significantly speed up commissioning applications. proposed technique validated by experiments.