Safety-Critical Kinematic Control of Robotic Systems

Singletary, A and Kolathaya, S and Ames, AD (2021) Safety-Critical Kinematic Control of Robotic Systems. In: IEEE Control Systems Letters, 6 . pp. 139-144.

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Abstract

Over the decades, kinematic controllers have proven to be practically useful for applications like set-point and trajectory tracking in robotic systems. To this end, we formulate a novel safety-critical paradigm by extending the methodology of control barrier functions (CBFs) to kinematic equations governing robotic systems. We demonstrate a purely kinematic implementation of a velocity-based CBF, and subsequently introduce a formulation that guarantees safety at the level of dynamics. This is achieved through a new form of CBFs that incorporate kinetic energy with the classical forms, thereby minimizing model dependence and conservativeness. The approach is then extended to underactuated systems. This method and the purely kinematic implementation are demonstrated in simulation on two robotic platforms: a 6-DOF robotic manipulator, and a cart-pole system.

Item Type:	Journal Article
Publication:	IEEE Control Systems Letters
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to the Institute of Electrical and Electronics Engineers Inc.
Keywords:	Industrial manipulators; Kinematics; Kinetic energy; Kinetics; Robotics; Safety engineering, Control barriers; Kinematic control; Kinematic controller; Kinematic equations; Robotic manipulators; Robotic platforms; Trajectory tracking; Under-actuated systems, Manipulators
Department/Centre:	Division of Electrical Sciences > Computer Science & Automation Division of Interdisciplinary Sciences > Robert Bosch Centre for Cyber Physical Systems
Date Deposited:	14 Jul 2022 08:38
Last Modified:	14 Jul 2022 08:38
URI:	https://eprints.iisc.ac.in/id/eprint/74379

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