A constraint-based strategy for task-consistent safe human-robot interaction
Författare
Summary, in English
Tight human-robot interaction and collaboration will characterize future robot tasks. Robot working environments will be increasingly unstructured, as safety barriers will be removed to allow a continuous cooperation of robotic and human workers. Such a working scenario calls for novel safety systems capable of combining productivity with workers’ safety. In this paper, a method for the definition of a task-consistent collision avoidance safety strategy is presented. A classification of task constraints based on relevance for task completion is introduced. Control of task constraints enforcement is performed through a state machine. A template for such state machine is proposed. Experimental validation of the proposed safety system on a dual-arm industrial robot prototype is presented.
Avdelning/ar
Publiceringsår
2013
Språk
Engelska
Sidor
4630-4635
Dokumenttyp
Konferensbidrag
Ämne
- Control Engineering
Conference name
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013
Conference date
2013-11-03 - 2013-11-08
Conference place
Tokyo, Japan
Status
Published
Projekt
- ROSETTA
Forskningsgrupp
- LCCC