Physical and perceived safety in human-robot collaboration
| Autor: | Marco Maiocchi, Andrea Maria Zanchettin, Paolo Rocco |
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| Rok vydání: | 2020 |
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| DOI: | 10.5281/zenodo.4781434 |
| Popis: | This paper presents a complete motion control system for industrial manipulators, designed to maximize the robot productivity and meet the safety requirements of the human worker during human-robot collaboration. The real-time solution of a constrained optimization problem allows to control the robot’s motion in accordance with a pre-programmed trajectory, satisfying both the kinematic contraints and those imposed by the adopted collision avoidance strategy. A human safety perception system is also introduced, which aims to increase the human worker’s psychological safety and prevent potentially dangerous movements. A Mixed Reality software application, which provides the human worker with a digital visualization of the robot motion intention, and a real-time motion prediction algorithm, which computes the future poses of the robot, complete the system. Finally, a control stategy based on the human field of view is presented. https://youtu.be/wLFhPEckOYk |
| Databáze: | OpenAIRE |
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