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Document type:
Konferenzbeitrag 
Contribution type:
Textbeitrag / Aufsatz 
Author(s):
M. Rauscher; M. Kimmel; S. Hirche 
Title:
Constrained Robot Control Using Control Barrier Functions 
Pages contribution:
279--285 
Abstract:
Many robotic applications, especially if humans are involved, require the robot to adhere to certain joint, workspace, velocity or force limits while simultaneously executing a task. In this paper, we introduce a control structure, which merges an arbitrary desired robot behavior with given constraints. Using a quadratic program (QP), control barrier functions (CBFs) are combined with an arbitrary nominal control law, which determines the desired behavior. The CBFs enforce the constraints, overr...    »
 
Keywords:
conhumo 
Book / Congress title:
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 
Year:
2016 
Pages:
Reviewed:
ja 
Language:
en 
Semester:
SS 16