Motion planning analysis according to ISO/TS 15066 in human-robot collaboration environment

Ales Vysocky, Hisaka Wada, Jun Kinugawa, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

An important task in the collaborative human-robot work-space development is ensuring operator safety. Setting up global restriction for the overall robot movement based on worst-case scenario leads to a decrease in efficiency and increase of working time. Considering safety precautions in the motion planning phase may help to satisfy the safety of the operator while keeping the production time effective. In this study, several methods of including safety into motion planning are proposed and evaluated. Safety of the operator is defined based on technical specification ISO/TS 15066 [1] and the principle of energy absorption by the operator body. Simulations of regulated robot movement are based on model scenario captured in an experimental workplace with assistant co-working manipulator PaDY. Velocity limits for the robot are drafted according to predicted operator trajectory. By using the proposed method, we have been able to reduce the relative velocity during operation of the robot and reduce the risk of harming workers. We propose a method of relative velocity measurement and limiting. Finally, we compare the benefits and robustness of different methods.

Original languageEnglish
Title of host publicationProceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages151-156
Number of pages6
ISBN (Electronic)9781728124933
DOIs
Publication statusPublished - 2019 Jul
Event2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019 - Hong Kong, China
Duration: 2019 Jul 82019 Jul 12

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2019-July

Conference

Conference2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
CountryChina
CityHong Kong
Period19/7/819/7/12

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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