Dynamic Awareness of an Industrial Robotic Arm Using Time-of-Flight Laser-Ranging Sensors

2019 IEEE International Conference on Systems, Man and Cybernetics (SMC)

Sahin

2019

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In this paper, an analysis of the sensing volume coverage of robot workspace as well as the shared humanrobot collaborative workspace for various configurations of onrobot Time-of-Flight (ToF) sensor array rings is presented. A methodology for volumetry using octrees to quantify the detection/sensing volume of the sensors is proposed. The change in sensing volume coverage by increasing the number of sensors per ToF sensor array ring and also increasing the number of rings mounted on robot link is also studied. Considerations of maximum ideal volume around the robot workspace that a given ToF sensor array ring placement and orientation setup should cover for safe human robot interaction are presented. The sensing volume coverage measurements in this maximum ideal volume are tabulated and observations on various ToF configurations and their coverage for close and far zones of the robot are determined.

Section: Resultsmentioning

confidence: 99%

Section: Experiments and Validationmentioning

confidence: 99%

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Sensing Volume Coverage of Robot Workspace using On-Robot Time-of-Flight Sensor Arrays for Safe Human Robot Interaction

2019 IEEE International Conference on Systems, Man and Cybernetics (SMC)

Sahin

2019

Self Cite

“…This human task was setup to control the human movement and overlap of human-robot workspace. For more information our previous work [3] and [7] can be referred. In order to avoid collision, safety algorithms are implemented to detect and anticipate the human motion, resulting into the robot stopping, reducing speed or moving normally i.e.…”

Section: B Case Study IImentioning

confidence: 99%

A Framework for Monitoring Human Physiological Response during Human Robot Collaborative Task

Savur

2019 IEEE International Conference on Systems, Man and Cybernetics (SMC)

Sahin

2019

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In this paper, a framework for monitoring human physiological response during Human-Robot Collaborative (HRC) task is presented. The framework highlights the importance of generation of event markers related to both human and robot, and also synchronization of data collected. This framework enables continuous data collection during an HRC task when changing robot movements as a form of stimuli to invoke a human physiological response. It also presents two case studies based on this framework and a data visualization tool for representation and easy analysis of the collected data during an HRC experiment.

“…While the number of ways a robot can collaborate with a human are limitless, this type of collaboration introduces new challenges to robotics research for industrial settings and demands for a well defined industrial standards. 0 Accepted in 14th International Conference on System of Systems Engineering (SoSE), May 19-22 , 2019 Anchorage, Alaska, USA The major challenges of Human Robot Collaboration (HRC) in industry are human safety, human trust in automation, and productivity [2]. Human safety has always been the primary concern in robotics.…”

Section: Introductionmentioning

confidence: 99%

HRC-SoS: Human Robot Collaboration Experimentation Platform as System of Systems

Savur

2019 14th Annual Conference System of Systems Engineering (SoSE)

Arora

et al. 2019

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This paper presents an experimentation platform for human robot collaboration as a system of systems as well as proposes a conceptual framework describing the aspects of Human Robot Collaboration. These aspects are Awareness, Intelligence and Compliance of the system. Based on this framework case studies describing experiment setups performed using this platform are discussed. Each experiment highlights the use of the subsystems such as the digital twin, motion capture system, human-physiological monitoring system, data collection system and robot control and interface systems. A highlight of this paper showcases a subsystem with the ability to monitor human physiological feedback during a human robot collaboration task.