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A Proactive Strategy for Safe Human-Robot Collaboration based on a Simplified Risk Analysis
- Source :
- Modeling, Identification and Control, Vol 36, Iss 1, Pp 11-21 (2015)
- Publication Year :
- 2015
- Publisher :
- Norwegian Society of Automatic Control, 2015.
-
Abstract
- 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.
Details
- Language :
- English
- ISSN :
- 03327353 and 18901328
- Volume :
- 36
- Issue :
- 1
- Database :
- Directory of Open Access Journals
- Journal :
- Modeling, Identification and Control
- Publication Type :
- Academic Journal
- Accession number :
- edsdoj.407acb20610c44d2a3d26ff2b2402b26
- Document Type :
- article
- Full Text :
- https://doi.org/10.4173/mic.2015.1.2