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Title:

Constrained Robot Control Using Control Barrier Functions

Document type:
Konferenzbeitrag
Contribution type:
Textbeitrag / Aufsatz
Author(s):
M. Rauscher; M. Kimmel; S. Hirche
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:
7
Reviewed:
ja
Language:
en
Semester:
SS 16
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