Manipulator Performance Constraints for human-robot Cooperation
Use any local performance index of a robotic manipulator to constrain the robot above a certain threshold. This is particularly useful for singularity avoidance in physical human-robot interaction
A detailed description can be found in the following RCIM paper:
- Dimeas, Fotios, Vassilis C. Moulianitis, and Nikos Aspragathos. "Manipulator performance constraints in human-robot cooperation." Robotics and Computer-Integrated Manufacturing (2017).
and also in ICRA 2016 (early version):
- Dimeas, Fotios, et al. "Manipulator performance constraints in Cartesian admittance control for human-robot cooperation." Robotics and Automation (ICRA), 2016 IEEE International Conference on. IEEE, 2016.
A video demonstration:
This repository includes the Matlab code that was used in the ICRA 2016 paper and the extended method in C++ that is presented in the RCIM journal.
The C++ implementation includes performance constraints in both translational and rotational axes. It also includes 3 ways of calculating them:
- Serial: Each direction is calculated after the other. It might take a while
- Parallel: Each direction is calculated in its own thread worker. Function returns when all calculations are over. This usually works in less than 1ms. Better have a multi-thread CPU.
- Parallel non-blocking: Same as above but the function returns immediately. This can work in slow computers. WARNING! Be very careful when you use it, synchronization issues of the constraint forces may arise.
g++ demo.cpp performanceConstraints.cpp Jacobian.cpp -o demo -larmadillo -pthread -std=c++11
The Jacobian matrix that is provided in symbolic form is for the KUKA LWR 4+
- Armadillo library
- Set the desired parameters for the robot and the performance constraints
- Run the simulation
- View the simulated motion of the robot and the plots
- Robotics Toolbox for Matlab (http://www.petercorke.com/Robotics_Toolbox.html)
- The simulation does not consider the joint limits so the robot might behave weird
- This code has been tested with Robotics Toolbox 9.10 and Matlab R2014a
Authors: Fotios Dimeas, Charalambos Papakonstantinou
Copyright 2015-2017 Fotios Dimeas