A Safety Kinodynamic Planning Framework for Human-Robot Collaboration
| Main Authors: | Pupa, Andrea, Arrfou, Mohammad, Andreoni, Gildo, Secchi, Cristian |
|---|---|
| Format: | Proceeding Journal |
| Bahasa: | eng |
| Terbitan: |
, 2021
|
| Subjects: | |
| Online Access: |
https://zenodo.org/record/4964546 |
Daftar Isi:
- In recent years, the safety standards have been updated in order to regulate the new work environments, characterized by the presence of humans and robots that collaborate. The simple application of these standards translates in great reduction of the robot speed. In order to ensure safety for the human operator and allow the robot a more efficient behavior, a two layer architecture is for trajectory planning and scaling is presented. The first layer is responsible of planning a collision-free trajectory, adapting it in real-time. The second layer, instead, explicitly consider the safety standards to ensure a safe robot velocity.