Reactive planning on a collaborative robot for industrial applications
Reactive planning on a collaborative robot for industrial applications
复制标题
工业应用协作机器人的反应式规划
DOI：
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
Daniel Sidobre
中科院分区：
文献类型：
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作者：
Gautier Dumonteil;Guido Manfredi;M. Devy;Ambroise Confetti;Daniel Sidobre
机器人专家面临的挑战在于推广协作机器人的工业应用，即允许机器人在没有障碍的情况下靠近人类使用。 Safety becomes the key issue.对于操纵任务，部分问题可以通过使用 KUKA LWR 等新机械臂来解决，该机械臂能够通过每个关节的扭矩测量来物理检测碰撞。尽管如此，最好避免碰撞，特别是当障碍物是操作员的手臂或头部时。本文介绍了如何使用单个 Kinect 传感器来监控工作空间，并使用 KineoWorksTM 软件库的反应规划器来实时选择避让轨迹，从而检测和避开障碍物。实验结果证明了这种动态避障策略可以正常工作。
A challenge for roboticists consists in promoting collaborative robotics for industrial applications, i.e. allowing robots to be used close to humans, without barriers. Safety becomes the key issue. For manipulation tasks, a part of the problem is solved using new arms like the KUKA LWR, which is able to physically detect a collision from torque measurements on each joint. Nevertheless it is better to avoid collisions, especially if the obstacle is the arm or the head of an operator. This paper describes how obstacles could be detected and avoided, using a single Kinect sensor for the monitoring of the workspace and the reactive planner of the KineoWorksTM software library for the real-time selection of an avoidance trajectory. Experimental results are provided as a proof that this dynamic obstacle avoidance strategy works properly.
影响因子：
3.5
作者：
Hornung, Armin;Wurm, Kai M.;Burgard, Wolfram
通讯作者：
Burgard, Wolfram