A Proactive Strategy for Safe Human-Robot Collaboration based on a Simplified Risk Analysis
| Autor: | Audun Sanderud, Trygve Thomessen, Hisashi Osumi, Mihoko Niitsuma |
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| Jazyk: | angličtina |
| Rok vydání: | 2015 |
| Předmět: | |
| Zdroj: | Modeling, Identification and Control, Vol 36, Iss 1, Pp 11-21 (2015) |
| Druh dokumentu: | article |
| ISSN: | 0332-7353 1890-1328 |
| DOI: | 10.4173/mic.2015.1.2 |
| Popis: | In an increasing demand for human-robot collaboration systems, the need for safe robots is crucial. This paper presents a proactive strategy to enable an awareness of the current risk for the robot. The awareness is based upon a map of historically occupied space by the operator. The map is built based on a risk evaluation of each pose presented by the operator. The risk evaluation results in a risk field that can be used to evaluate the risk of a collaborative task. Based on this risk field, a control algorithm that constantly reduces the current risk within its task constraints was developed. Kinematic redundancy was exploited for simultaneous task performance within task constraints, and risk minimization. Sphere-based geometric models were used both for the human and robot. The strategy was tested in simulation, and implemented and experimentally tested on a NACHI MR20 7-axes industrial robot. |
| Databáze: | Directory of Open Access Journals |
| Externí odkaz: |
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