Physical and perceived safety in human-robot collaboration
| Main Authors: | Marco Maiocchi, Andrea Maria Zanchettin, Paolo Rocco |
|---|---|
| Format: | Proceeding Journal |
| Terbitan: |
, 2020
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| Subjects: | |
| Online Access: |
https://youtu.be/wLFhPEckOYk |
Daftar Isi:
- 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.