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Proceedings/Recueil Des Communications Année : 2024

Prediction of pose errors implied by external forces applied on robots: towards a metric for the control of collaborative robots

Résumé

The presented work tackles the question of quantifying the pose deviations of robots subject to external disturbance forces. While this question may not be central when considering large robots perfectly rejecting disturbances through high controller gains, it is an important factor to consider when considering collaborative settings where smaller robots may be deviated from their task because of unmodeled physical interactions. This is all the more true when considering humanrobot collaboration where human capacities may fluctuate over time and have to be compensated by a proper adaptation of the robot control. To move forward in this direction, this works first derive a deviation prediction methodology and exemplifies it using three largely employed control approaches. The proposed prediction method is then validated using simulated and real robot experiments both in single and multiple robots cases. The obtained results constitute a stepping stone towards a quantitative metric for robot adapting their behaviour to human motor fluctuation.
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Dates et versions

hal-04410256 , version 1 (22-01-2024)
hal-04410256 , version 2 (09-04-2024)

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  • HAL Id : hal-04410256 , version 2

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Vincent Fortineau, Vincent Padois, David Daney. Prediction of pose errors implied by external forces applied on robots: towards a metric for the control of collaborative robots. IEEE International Conference on Robotics and Automation, 2024. ⟨hal-04410256v2⟩

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