Algorithmic safety measures for intelligent industrial co-robots
Algorithmic safety measures for intelligent industrial co-robots
复制标题
智能工业协作机器人的算法安全措施
DOI：
--
复制
发表时间：
2016
期刊：
影响因子：
--
通讯作者：
M. Tomizuka
中科院分区：
文献类型：
--
作者：
Changliu Liu;M. Tomizuka
在未来的工厂里，人类和机器人有望在灵活的生产线上成为同事和共同居民。确保人类和机器人不互相伤害是很重要的。本文关注的是确保人类工人与下一代智能工业协作机器人之间安全高效交互的功能问题。将人参与环境下的机器人运动规划与控制问题视为约束最优控制问题。提出了一种模块化的并行控制器结构来在线解决该问题，该结构包括确保效率的基线控制器和通过使安全集不变量来解决实时安全性的安全控制器。胶囊被用来代表人类和机器人的复杂几何形状。讨论了各个模块的设计注意事项。对平面机械臂和六自由度机械臂进行了再现真实场景的仿真研究。仿真结果验证了该方法的有效性。
In factories of the future, humans and robots are expected to be co-workers and co-inhabitants in the flexible production lines. It is important to ensure that humans and robots do not harm each other. This paper is concerned with functional issues to ensure safe and efficient interactions among human workers and the next generation intelligent industrial co-robots. The robot motion planning and control problem in a human involved environment is posed as a constrained optimal control problem. A modularized parallel controller structure is proposed to solve the problem online, which includes a baseline controller that ensures efficiency, and a safety controller that addresses real time safety by making a safe set invariant. Capsules are used to represent the complicated geometry of humans and robots. The design considerations of each module are discussed. Simulation studies which reproduce realistic scenarios are performed on a planar robot arm and a 6 DoF robot arm. The simulation results confirm the effectiveness of the method.