用碰撞锥设计安全控制，让机械臂在动态环境里既灵活又不撞人。
Safety-Critical Control for Robotic Manipulators using Collision Cone Control Barrier Functions
- 基于碰撞锥构建专用控制屏障函数，实现安全约束融合。
- 通过二次规划最小调整原控制，确保末端执行器安全合规。
- 适用于动态环境中需高安全性的机械臂操作任务。
本文提出一种面向动态环境中机械臂的安全关键控制方法。在控制屏障函数（CBFs）框架基础上，将碰撞锥方法拓展为专用于机械臂的碰撞锥控制屏障函数（C3BFs）。通过将碰撞锥几何推导出的安全约束与笛卡尔阻抗控制无缝结合，保障末端执行器在柔性操作中的安全性。设计了基于二次规划（QP）的控制器，以最小程度修改原始控制输入来强制执行安全策略。大量仿真实验验证了该方法在多种动态场景下的有效性。
原文摘要 · Abstract (English)
This paper presents a comprehensive approach for the safety-critical control of robotic manipulators operating in dynamic environments. Building upon the framework of Control Barrier Functions (CBFs), we extend the collision cone methodology to formulate Collision Cone Control Barrier Functions (C3BFs) specifically tailored for manipulators. In our approach, safety constraints derived from collision cone geometry are seamlessly integrated with Cartesian impedance control to ensure compliant yet safe end-effector behavior. A Quadratic Program (QP)-based controller is developed to minimally modify the nominal control input to enforce safety. Extensive simulation experiments demonstrate the efficacy of the proposed method in various dynamic scenarios.
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