Enhancing fluency and productivity in human-robot collaboration through online scaling of dynamic safety zones
Enhancing fluency and productivity in human-robot collaboration through online scaling of dynamic safety zones
复制标题
通过动态安全区域的在线扩展提高人机协作的流畅性和生产力
DOI：
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发表时间：
2022
期刊：
影响因子：
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通讯作者：
A. Gasparetto
中科院分区：
文献类型：
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作者：
Lorenzo Scalera;Andrea Giusti;R. Vidoni;A. Gasparetto
工业协作机器人技术对于制造活动是有希望的，其中机器人与人类操作员的存在可以改善操作员的工作条件，灵活性和生产力。协作机器人应用程序不仅要保证人类操作员的安全，还要保证协作的流畅性，以及生产力和任务时间方面的性能。在本文中，我们提出了一种方法，以提高流畅性和生产力的人机协作，通过在线缩放的动态安全区。监督控制器在包围机器人和人的包围体之间运行在线安全检查，以识别可能的碰撞危险。为了优化包围机械手的安全区域的大小，该方法考虑机器人动力学及其扭矩约束，最大限度地减少潜在停止轨迹的时间，并利用机器人部件相对于人类的定向速度。仿真和实验测试的七自由度的机器人手臂验证了所提出的方法的有效性，和合作流畅性指标显示的好处，该方法相对于现有的方法。
Industrial collaborative robotics is promising for manufacturing activities where the presence of a robot alongside a human operator can improve operator’s working conditions, flexibility, and productivity. A collaborative robotic application has to guarantee not only safety of the human operator, but also fluency in the collaboration, as well as performance in terms of productivity and task time. In this paper, we present an approach to enhance fluency and productivity in human-robot collaboration through online scaling of dynamic safety zones. A supervisory controller runs online safety checks between bounding volumes enclosing robot and human to identify possible collision dangers. To optimize the sizes of safety zones enclosing the manipulator, the method minimizes the time of potential stop trajectories considering the robot dynamics and its torque constraints, and leverages the directed speed of the robot parts with respect to the human. Simulations and experimental tests on a seven-degree-of-freedom robotic arm verify the effectiveness of the proposed approach, and collaborative fluency metrics show the benefits of the method with respect to existing approaches.