Reactive Task Adaptation Based on Hierarchical Constraints Classification for Safe Industrial Robots
- 6 May 2015
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE/ASME Transactions on Mechatronics
- Vol. 20 (6), 2935-2949
- https://doi.org/10.1109/tmech.2015.2415462
Abstract
A widespread and flexible use of robots in rapidly changing working environments could be greatly enhanced by human-robot interaction and collaboration. Humans and robots have complementary skills. The robotic worker can relieve the human from repetitive work, and the human can make robot deployment easier by managing nonstandard or particularly skilful operations. Such a scenario, however, requires new safety systems to preserve human workers from potential danger and at the same time to make human-robot interaction productive and advantageous. In this paper, a system for safe and task consistent human-robot interaction integrated with an industrial controller is proposed. The robot executes evasive motions to avoid impacts with obstacles consistently with the task. A classification of constraints constituting the task is proposed and a safety strategy based on such classification is defined. This paper finally presents integration of the safety system with an industrial controller and experimental validation on an assembly operation.Keywords
This publication has 35 references indexed in Scilit:
- A constraint-based strategy for task-consistent safe human-robot interactionPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2013
- Robotic force estimation using motor torques and modeling of low velocity friction disturbancesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2013
- Safety Assessment and Control of Robotic Manipulators Using Danger FieldIEEE Transactions on Robotics, 2013
- Force controlled robotic assembly without a force sensorPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2012
- Force controlled assembly of emergency stop buttonPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2011
- On-line trajectory resolution for two-armed systems with conflicting performance criteriaMechanism and Machine Theory, 2009
- Extending an industrial robot controllerIEEE Robotics & Automation Magazine, 2005
- A new on-line algorithm for inverse kinematics of robot manipulators ensuring path tracking capability under joint limitsIEEE Transactions on Robotics and Automation, 2003
- Kinematic analysis of 7 DOF anthropomorphic armsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Elastic Strips: A Framework for Motion Generation in Human EnvironmentsThe International Journal of Robotics Research, 2002