Making Robotics Safer: The Power of Pre-Computed Safe Sets

Robotic manipulators are becoming more prevalent in various industries, but with increased usage comes the need for enhanced safety measures. Conventional torque controllers often fall short, risking safety violations when exposed to external disturbances. A new approach utilizes viability theory to tackle these issues head-on.

Viability Theory in Action

Visualize this: pre-computed safe sets in the state-space of a robot's joint positions and velocities. These viable sets act as a safety net, constructed through both data-driven and analytical methods, designed to prevent self-collisions, avoid external object collisions, and respect joint-position and joint-velocity limits. By setting constraints on joint accelerations, and then joint torques, the system's dynamics are kept in check.

One chart, one takeaway: with these safe sets, the robotic system ensures that operations remain within predefined safety parameters. This isn't just theoretical. The approach has been validated through simulations and tests on a 7-DoF Franka Emika manipulator. The results? A smoother trajectory and higher control-loop rates compared to baseline controllers.

Why This Matters

Numbers in context: we're looking at a significant leap in robotic safety and reliability. By enforcing these safety constraints, the robotic system promises an infinite time horizon of safe operation. The trend is clearer when you see it. As industries push for more automation and robotics, the demand for such safety measures will only grow.

But here's the kicker: why wasn't this done sooner? Viability theory's potential has been known, yet its application in torque control was limited. It's a wake-up call for the industry to reevaluate existing systems and prioritize safety without sacrificing performance.

The Path Forward

Incorporating these viable sets isn't just a technical upgrade. It's a necessary evolution in the way we approach robotic control. As the technology progresses, will the industry standard shift towards these advanced safety measures? The answer seems a resounding yes, especially given the tangible benefits in performance and safety.

As robotics become more integral to our daily lives, ensuring their safe operation is key. This method provides a blueprint for future developments, promising not only increased safety but also more efficient and reliable performance.