用控制屏障函数限制机器人动能，实现安全控制
Limiting Kinetic Energy through Control Barrier Functions: Analysis and Experimental Validation
- 通过注入阻尼修改控制指令，最小干预原控制器
- 7自由度机械臂实验验证，动能限制效果显著
- 适合需安全约束的机器人控制场景
在安全关键控制背景下，本文提出并分析了使用控制屏障函数（CBF）来限制力矩控制型机器人的动能。所提方法能够以最小侵入性方式修改原始控制指令，实现期望的动能上限。我们证明，通过在底层机器人动力学中适当注入阻尼，可独立于原始控制器结构实现该安全条件。本文在7自由度的Franka Emika Panda机器人上进行了广泛的实验验证，结果表明该方法能有效构建一个轻量、非侵入式且在真实实验中鲁棒的安全层，易于实现。
原文摘要 · Abstract (English)
In the context of safety-critical control, we propose and analyse the use of Control Barrier Functions (CBFs) to limit the kinetic energy of torque-controlled robots. The proposed scheme is able to modify a nominal control action in a minimally invasive manner to achieve the desired kinetic energy limit. We show how this safety condition is achieved by appropriately injecting damping in the underlying robot dynamics independently of the nominal controller structure. We present an extensive experimental validation of the approach on a 7-Degree of Freedom (DoF) Franka Emika Panda robot. The results demonstrate that this approach provides an effective, minimally invasive safety layer that is straightforward to implement and is robust in real experiments.
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