3D Collision-Force-Map for Safe Human-Robot Collaboration
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00348713" target="_blank" >RIV/68407700:21230/21:00348713 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ICRA48506.2021.9561845" target="_blank" >https://doi.org/10.1109/ICRA48506.2021.9561845</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA48506.2021.9561845" target="_blank" >10.1109/ICRA48506.2021.9561845</a>
Alternative languages
Result language
angličtina
Original language name
3D Collision-Force-Map for Safe Human-Robot Collaboration
Original language description
The need to guarantee safety of collaborative robots limits their performance, in particular, their speed and hence cycle time. The standard ISO/TS 15066 defines the Power and Force Limiting operation mode and prescribes force thresholds that a moving robot is allowed to exert on human body parts during impact, along with a simple formula to obtain maximum allowed speed of the robot in the whole workspace. In this work, we measure the forces exerted by two collaborative manipulators (UR10e and KUKA LBR iiwa) moving downward against an impact measuring device. First, we empirically show that the impact forces can vary by more than 100 percent within the robot workspace. The forces are negatively correlated with the distance from the robot base and the height in the workspace. Second, we present a data-driven model, 3D Collision-Force-Map, predicting impact forces from distance, height, and velocity and demonstrate that it can be trained on a limited number of data points. Third, we analyze the force evolution upon impact and find that clamping never occurs for the UR10e. We show that formulas relating robot mass, velocity, and impact forces from ISO/TS 15066 are insufficient—leading both to significant underestimation and overestimation and thus to unnecessarily long cycle times or even dangerous applications. We propose an empirical method that can be deployed to quickly determine the optimal speed and position where a task can be safely performed with maximum efficiency.
Czech name
—
Czech description
—
Classification
Type
D - Article in proceedings
CEP classification
—
OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
<a href="/en/project/GX20-24186X" target="_blank" >GX20-24186X: Whole-body awareness for safe and natural interaction: from brains to collaborative robots</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
IEEE International Conference on Robotics and Automation (ICRA)
ISBN
978-1-7281-9077-8
ISSN
1050-4729
e-ISSN
2577-087X
Number of pages
7
Pages from-to
3829-3835
Publisher name
IEEE Xplore
Place of publication
—
Event location
Xi’an
Event date
May 30, 2021
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000765738803010