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Hier finden Sie wissenschaftliche Publikationen aus den FraunhoferInstituten. Bounded Collision Force by the Sobolev Norm: Compliance and Control for Interactive Robots
 Institute of Electrical and Electronics Engineers IEEE: IEEE International Conference on Robotics and Automation, ICRA 2019 : May 2024, 2019, Montreal, Canada Piscataway, NJ: IEEE, 2019 ISBN: 9781538660263 ISBN: 9781538660270 ISBN: 9781538681763 pp.85298535 
 International Conference on Robotics and Automation (ICRA) <2019, Montreal> 
 European Commission EC H2020; 820683; SHERLOCK 

 English 
 Conference Paper 
 Fraunhofer IPK () 
Abstract
A robot making contact with an environment or human presents potential safety risks, including excessive collision force. While experiments on the effect of robot inertia, relative velocity, and interface stiffness on collision are in literature, analytical models for maximum collision force are limited to a simplified massspring robot model. This simplified model limits the analysis of control (force/torque, impedance, or admittance) or compliant robots (joint and endeffector compliance). Here, the Sobolev norm is adapted to be a system norm, giving rigorous bounds on the maximum force on a stiffness element in a general dynamic system, allowing the study of collision with more accurate models and feedback control. The Sobolev norm can be found through the H 2 norm of a transformed system, allowing efficient computation, connection with existing control theory, and controller synthesis to minimize collision force. The Sobolev norm is validated, first experimentally with an admittancecontrolled robot, then in simulation with a linear flexiblejoint robot. It is then used to investigate the impact of control, joint flexibility and endeffector compliance on collision, and a tradeoff between collision performance and environmental estimation uncertainty is shown.