Real-time motion control of robotic manipulators for safe human–robot coexistence

This paper introduces a computationally efficient control scheme for safe human–robot interaction. The method relies on the Explicit Reference Governor (ERG) formalism to enforce input and state constraints in real-time, thus ensuring that robot can safely operate close proximity humans. resulting constrained steer arm desired end-effector pose (or steady-state admissible approximation thereof) presence of actuator saturation, limited joint ranges, speed limits, static obstacles, effectiveness proposed solution is supported by theoretical results numerous experimental validations Franka Emika Panda robotic manipulator, commercially available collaborative 7-DOF arm.