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Reactive Task Adaptation Based on Hierarchical Constraints Classification for Safe Industrial Robots

Ceriani, Nicola Maria; Zanchettin, Andrea Maria; Rocco, Paolo; Stolt, Andreas LU and Robertsson, Anders LU (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:
author
organization
publishing date
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
2015-12-22 08:19:58
date last changed
2017-11-05 04:17:38
@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},
  keyword      = {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},
  volume       = {20},
  year         = {2015},
}