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A constraint-based strategy for task-consistent safe human-robot interaction

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Author

  • Nicola Maria Ceriani
  • Andrea Maria Zanchettin
  • Paolo Rocco
  • Andreas Stolt
  • Anders Robertsson

Summary, in English

Tight human-robot interaction and collaboration will characterize future robot tasks. Robot working environments will be increasingly unstructured, as safety barriers will be removed to allow a continuous cooperation of robotic and human workers. Such a working scenario calls for novel safety systems capable of combining productivity with workers’ safety. In this paper, a method for the definition of a task-consistent collision avoidance safety strategy is presented. A classification of task constraints based on relevance for task completion is introduced. Control of task constraints enforcement is performed through a state machine. A template for such state machine is proposed. Experimental validation of the proposed safety system on a dual-arm industrial robot prototype is presented.

Publishing year

2013

Language

English

Pages

4630-4635

Document type

Conference paper

Topic

  • Control Engineering

Conference name

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Conference date

2013-11-03 - 2013-11-08

Conference place

Tokyo, Japan

Status

Published

Project

  • ROSETTA

Research group

  • LCCC