Collision Avoidance Control of Robot Arm Considering Shape of Obstacle
Ryota HAMATANI, Taishin YAMAMOTO, Hisakazu Nakamura · Transactions of the Society of Instrument and Control Engineers · 2022
Control Barrier Functions (CBFs) have attracted much attention in recent years as a control method to guarantee safety. Previous studies have shown the effectiveness of obstacles and robots of various shapes. However, there is no study using a CBF that considers the shape of the target system and the obstacle simultaneously. In this paper, we derive a control law of considering the shape of the target system and design CBF for non-convex safe sets. Then, we construct a human assist input by using the CBF. Moreover, we confirm the effectiveness of the proposed method by experiments of an arm robot.