Multimodal sensor-based whole-body control for human–robot collaboration in industrial settings
| Autor: | Martin Schröer, Johannes Teiwes, Malte Wirkus, Vinzenz Bargsten, Timo Bänziger, Elsa Andrea Kirchner, José de Gea Fernández, Frank Kirchner, Mathias Trampler, Tobias Knobloch, Dennis Mronga, Martin Günther, Thomas Krüger, Stefan Stiene |
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| Jazyk: | angličtina |
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Computer science General Mathematics SIGNAL (programming language) Medizin Control engineering 02 engineering and technology Workspace Technik Human–robot interaction Computer Science Applications 020901 industrial engineering & automation Control and Systems Engineering Control theory Gesture recognition 0202 electrical engineering electronic engineering information engineering Robot Factory (object-oriented programming) 020201 artificial intelligence & image processing Software Simulation Gesture |
| Popis: | This paper describes the development of a dual-arm robotic system for industrial human–robot collaboration. The robot demonstrator described here possesses multiple sensor modalities for the monitoring of the shared human–robot workspace and is equipped with the ability for real-time collision-free dual-arm manipulation. A whole-body control framework is used as a key control element which generates a coherent output signal for the robot’s joints given the multiple controller inputs, tasks’ priorities, physical constraints, and current situation. Furthermore, sets of controller-constraints combinations of the whole-body controller constitute the basic building blocks that describe actions of a high-level action plan to be sequentially executed. In addition, the robotic system can be controlled in an intuitive manner via human gestures. These individual robotic capabilities are combined into an industrial demonstrator which is validated in a gearbox assembly station of a Volkswagen factory. |
| Databáze: | OpenAIRE |
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