Null-Space Compliance Variation for Safe Human-Robot Collaboration in Redundant Manipulators using Safety Control Barrier Functions
Julian M. Salt Ducaju,Björn Olofsson,Anders Robertsson,Rolf Johansson,Julian M. Salt Ducaju,Björn Olofsson,Anders Robertsson,Rolf Johansson
In this paper, Safety Control Barrier Functions (SCBFs) were used to adjust the null-space compliant behavior of a redundant robot to improve safety in Human-Robot Collaboration (HRC) without modifying the robot behavior with respect to its main Cartesian task. A Lyapunov function was included in an energy storage formulation compatible with strict passivity to provide global asymptotic stability ...
