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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Centrum výzkumu pokročilých mechatronických systémů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2019

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

ISBN

978-1-72812-493-3

ISSN

—

e-ISSN

2159-6255

Počet stran výsledku

6

Strana od-do

151-156

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Hongkong

Datum konání akce

8. 7. 2019

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

—