Motion planning analysis according to ISO/TS 15066 in human-robot collaboration environment

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F19%3A10242988" target="_blank" >RIV/61989100:27230/19:10242988 - isvavai.cz</a>
Result on the web
<a href="https://ieeexplore.ieee.org/document/8868390" target="_blank" >https://ieeexplore.ieee.org/document/8868390</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/AIM.2019.8868390" target="_blank" >10.1109/AIM.2019.8868390</a>

Result language
angličtina
Original language name
Motion planning analysis according to ISO/TS 15066 in human-robot collaboration environment
Original language description
An important task in the collaborative human-robot work-space development is ensuring operator safety. Setting up global restriction for the overall robot movement based on worst-case scenario leads to a decrease in efficiency and increase of working time. Considering safety precautions in the motion planning phase may help to satisfy the safety of the operator while keeping the production time effective. In this study, several methods of including safety into motion planning are proposed and evaluated. Safety of the operator is defined based on technical specification ISO/TS 15066 [1] and the principle of energy absorption by the operator body. Simulations of regulated robot movement are based on model scenario captured in an experimental workplace with assistant co-working manipulator PaDY. Velocity limits for the robot are drafted according to predicted operator trajectory. By using the proposed method, we have been able to reduce the relative velocity during operation of the robot and reduce the risk of harming workers. We propose a method of relative velocity measurement and limiting. Finally, we compare the benefits and robustness of different methods. (C) 2019 IEEE.
Czech name
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Czech description
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Project
<a href="/en/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Research Centre of Advanced Mechatronic Systems</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
ISBN
978-1-72812-493-3
ISSN
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e-ISSN
2159-6255
Number of pages
6
Pages from-to
151-156
Publisher name
IEEE
Place of publication
Piscataway
Event location
Hongkong
Event date
Jul 8, 2019
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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