TY - GEN
T1 - Dynamic collision avoidance method for co-worker robot using time augmented configuration-space
AU - Wada, Hisaka
AU - Kanazawa, Akira
AU - Konada, Kazuya
AU - Wakabayashi, Yuta
AU - Kamioka, Masaya
AU - Kondo, Shuhei
AU - Kinugawa, Jun
AU - Kosuge, Kazuhiro
PY - 2016/9/1
Y1 - 2016/9/1
N2 - This paper proposes a co-worker in-time Parts/tools Delivery to You robot, PaDY, in an automobile assembly line. Since co-worker robots share a workspace, the workers are at risk of colliding with them. Therefore, the safety of the workers has to be considered when operating such robots. In previous studies, the robot generally stops to ensure the worker's safety when a collision is detected, delaying the work process. However, if the robot can avoid the collision and continue to operate smoothly, the work process will not be delayed. Hence, this paper proposes a novel dynamic collision avoidance method for the co-worker robots. In this method, we utilize Markov model and Kalman filter to predict the trajectory of the workers. We define the Time Augmented Configuration-Space as the configuration space with a time axis and use it for obstacle depiction and goal setting. We applied rapidly-exploring random tree search method for trajectory planning in Time Augmented Configuration-Space. Finally, we simulate collision avoidance with workers. The improved collision avoidance mechanism proposed here is a step toward allowing workers and robots to share a workspace, which will enhance productivity in the automobile sector in particular.
AB - This paper proposes a co-worker in-time Parts/tools Delivery to You robot, PaDY, in an automobile assembly line. Since co-worker robots share a workspace, the workers are at risk of colliding with them. Therefore, the safety of the workers has to be considered when operating such robots. In previous studies, the robot generally stops to ensure the worker's safety when a collision is detected, delaying the work process. However, if the robot can avoid the collision and continue to operate smoothly, the work process will not be delayed. Hence, this paper proposes a novel dynamic collision avoidance method for the co-worker robots. In this method, we utilize Markov model and Kalman filter to predict the trajectory of the workers. We define the Time Augmented Configuration-Space as the configuration space with a time axis and use it for obstacle depiction and goal setting. We applied rapidly-exploring random tree search method for trajectory planning in Time Augmented Configuration-Space. Finally, we simulate collision avoidance with workers. The improved collision avoidance mechanism proposed here is a step toward allowing workers and robots to share a workspace, which will enhance productivity in the automobile sector in particular.
KW - C-space
KW - Co-worker Robot
KW - Collision Avoidance
KW - Manipulator
UR - http://www.scopus.com/inward/record.url?scp=84991280612&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84991280612&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2016.7558970
DO - 10.1109/ICMA.2016.7558970
M3 - Conference contribution
AN - SCOPUS:84991280612
T3 - 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
SP - 2564
EP - 2569
BT - 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
Y2 - 7 August 2016 through 10 August 2016
ER -