This presentation is about the development and experimental validation of a safety aware controller for robotic manipulators. Due to a growing use of robots in various fields there is a need for manipulators that can both perform useful tasks and be safe to use in a shared workspace with humans.
In this work we validate a control architecture from previous work that uses both an optimized feed-forward control term and a feed-back control term for disturbance rejection. These validation experiments are performed on the 7-DoF Franka Emika Panda manipulator. Alongside this validation of previous work we extend the control architecture with a safety layer that utilizes the well known concept of energy tanks with a novel dynamic energy injection protocol to guarantee post collision safety.
Experiments with human-robot collision show a highly sensitive, but still robust safety aware control architecture.
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