Reactive Task Adaptation Based on Hierarchical Constraints Classification for Safe Industrial Robots
(2015) In IEEE/ASME Transactions on Mechatronics 20(6). p.2935-2949- Abstract
- A widespread and flexible use of robots in rapidly changing working environments could be greatly enhanced by human-robot interaction and collaboration. Humans and robots have complementary skills. The robotic worker can relieve the human from repetitive work, and the human can make robot deployment easier by managing nonstandard or particularly skilful operations. Such a scenario, however, requires new safety systems to preserve human workers from potential danger and at the same time to make human-robot interaction productive and advantageous. In this paper, a system for safe and task consistent human-robot interaction integrated with an industrial controller is proposed. The robot executes evasive motions to avoid impacts with obstacles... (More)
- A widespread and flexible use of robots in rapidly changing working environments could be greatly enhanced by human-robot interaction and collaboration. Humans and robots have complementary skills. The robotic worker can relieve the human from repetitive work, and the human can make robot deployment easier by managing nonstandard or particularly skilful operations. Such a scenario, however, requires new safety systems to preserve human workers from potential danger and at the same time to make human-robot interaction productive and advantageous. In this paper, a system for safe and task consistent human-robot interaction integrated with an industrial controller is proposed. The robot executes evasive motions to avoid impacts with obstacles consistently with the task. A classification of constraints constituting the task is proposed and a safety strategy based on such classification is defined. This paper finally presents integration of the safety system with an industrial controller and experimental validation on an assembly operation. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/8386470
- author
- Ceriani, Nicola Maria ; Zanchettin, Andrea Maria ; Rocco, Paolo ; Stolt, Andreas LU and Robertsson, Anders LU
- organization
- publishing date
- 2015
- type
- Contribution to journal
- publication status
- published
- subject
- keywords
- motion planning, human-robot interaction, Collision avoidance
- in
- IEEE/ASME Transactions on Mechatronics
- volume
- 20
- issue
- 6
- pages
- 2935 - 2949
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- external identifiers
-
- wos:000364030900028
- scopus:84960404007
- ISSN
- 1083-4435
- DOI
- 10.1109/TMECH.2015.2415462
- language
- English
- LU publication?
- yes
- id
- 9d2a5df2-dd6c-439f-9d53-9d7555ddab1a (old id 8386470)
- date added to LUP
- 2016-04-01 15:00:58
- date last changed
- 2022-05-15 21:46:23
@article{9d2a5df2-dd6c-439f-9d53-9d7555ddab1a, abstract = {{A widespread and flexible use of robots in rapidly changing working environments could be greatly enhanced by human-robot interaction and collaboration. Humans and robots have complementary skills. The robotic worker can relieve the human from repetitive work, and the human can make robot deployment easier by managing nonstandard or particularly skilful operations. Such a scenario, however, requires new safety systems to preserve human workers from potential danger and at the same time to make human-robot interaction productive and advantageous. In this paper, a system for safe and task consistent human-robot interaction integrated with an industrial controller is proposed. The robot executes evasive motions to avoid impacts with obstacles consistently with the task. A classification of constraints constituting the task is proposed and a safety strategy based on such classification is defined. This paper finally presents integration of the safety system with an industrial controller and experimental validation on an assembly operation.}}, author = {{Ceriani, Nicola Maria and Zanchettin, Andrea Maria and Rocco, Paolo and Stolt, Andreas and Robertsson, Anders}}, issn = {{1083-4435}}, keywords = {{motion planning; human-robot interaction; Collision avoidance}}, language = {{eng}}, number = {{6}}, pages = {{2935--2949}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, series = {{IEEE/ASME Transactions on Mechatronics}}, title = {{Reactive Task Adaptation Based on Hierarchical Constraints Classification for Safe Industrial Robots}}, url = {{http://dx.doi.org/10.1109/TMECH.2015.2415462}}, doi = {{10.1109/TMECH.2015.2415462}}, volume = {{20}}, year = {{2015}}, }