In an increasing demand for human-robot collaboration systems, the need for safe robots is crucial. This paper presents a proactive strategy to enable an awareness of the current risk for the robot. The awareness is based upon a map of historically occupied space by the operator. The map is built based on a risk evaluation of each pose presented by the operator. The risk evaluation results in a risk field that can be used to evaluate the risk of a collaborative task. Based on this risk field, a control algorithm that constantly reduces the current risk within its task constraints was developed. Kinematic redundancy was exploited for simultaneous task performance within task constraints, and risk minimization. Sphere-based geometric models were used both for the human and robot. The strategy was tested in simulation, and implemented and experimentally tested on a NACHI MR20 7-axes industrial robot.
CITATION STYLE
Sanderud, A., Thomessen, T., Osumi, H., & Niitsuma, M. (2015). A proactive strategy for safe human-robot collaboration based on a Simplified risk analysis. Modeling, Identification and Control, 36(1), 11–21. https://doi.org/10.4173/mic.2015.1.2
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