Modeling the Contact Force in Constrained Human–Robot Collisions

Herbster, Sebastian; Behrens, Roland; Elkmann, Norbert

doi:10.3390/machines11100955

Cited by 2 publications

(3 citation statements)

References 18 publications

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“…Using the scanner and calibration sheet, the pressure image is imported into the CoboSafe-Vision software (version number 1.2.10.611) and the data is automatically evaluated. The imported pressure film is converted to pressure values and the result displays the pressure image and the maximum pressure [20].…”

Section: Design Of Measurement Methodologymentioning

confidence: 99%

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Force and Pressure Dependent Asymmetric Workspace Research of a Collaborative Robot and Human

Ponikelský,

Chalupa,

Černohlávek

et al. 2024

Symmetry

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This article discusses creating a methodology for the asymmetric measuring of values and processes of collision forces and pressures of the collaborative robot dependent on time. Furthermore, it verifies the usefulness of this methodology in practice by successfully performing the experimental measurement and verifying the possibility of using these results by analysing and stating the collaboration level for a robot of the given type. According to the suggested methodology, the measurement results are a specific output based on real measured data, which can be easily rated and can quickly determine the collaborative level of any robot. Measurements were aimed at determining the values of pressure and force with which the robot acts at certain speeds related to distance from the base. Due to the controlled symmetrical impact of the robot on the measuring device, the transfer of energy from the robot to the human body was guaranteed. In theoretical terms, this article primarily provides the assembly of the theoretical foundation of the collaborative environment between humans and robots, and a comprehensive overview of the possibilities of using the technical specification ISO/TS 15066:2016 when deploying a robot in collaboration with humans in a collaborative environment. This new information is highly valuable for both manufacturers and users of collaborative robots. The presented article analyses the possibilities of measuring collaboration and safety elements in cooperation with a robot. The most significant practical benefit is the presentation of a methodology for measuring robot collaboration and verifying its functionality by conducting experimental measurements of robot collaboration according to this methodology. The measurement was performed on a robot made by Universal Robots, model UR10. The measurement coordinates were stationed in a way to create a spatial measurement model. Boundary coordinates of the spatial model were as follows: [450; 200], [450; 500], [850; 200], and [850; 500]. Collisions were measured at 8 different speeds for each coordinate (20 mms−1, 50 mms−1, 100 mms−1, 200 mms−1, 250 mms−1, 300 mms−1, 350 mms−1, and 400 mms−1) to enable the observation of changes in accordance with speed. The measured values indicate a significant fact: the closer the collision is to the robot’s base, the higher the collision forces. An important aspect is that the measured values were only for speeds up to 400 mms−1, which is a very low value for industrial use to meet the desired cycle time. It can be stated with absolute certainty that speed has the greatest impact on collision force values. The speed of the collaborative robot arm can therefore be considered a limiting factor for use in industrial applications with a requirement of a short cycle time. Focusing on the results of the measured values, it can be stated that a new finding is the correct design of robotic movements in relation to possible contact with humans is crucial. The result of the measurement according to the proposed methodology is a specific output of realistically measured data, which can be easily evaluated and the level of collaboration of any robot can be quickly determined. The measured data will also serve as a basis for further processing and preparation of new simulation software. It will be possible to use the intended software for detecting and predetermining the safe asymmetric movements of the collaborative robot already at the stage of production preparations, unlike the method of measuring force and pressure on robots which can be used until the time of implementation into production. In the future, this software may also allow users of collaborative robots to easily and quickly evaluate the robots specified.

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Section: Design Of Measurement Methodologymentioning

confidence: 99%

“….611) and the data is automatically evaluated. The imported pressure film is converted to pressure values and the result displays the pressure image and the maximum pressure [20].…”

Section: Design Of Measurement Methodologymentioning

confidence: 99%

Force and Pressure Dependent Asymmetric Workspace Research of a Collaborative Robot and Human

Ponikelský,

Chalupa,

Černohlávek

et al. 2024

Symmetry

View full text Add to dashboard Cite

show abstract

“…Herbster et al [17] proposed a model to determine contact forces in constrained collisions between humans and collaborative robots. The model allows for iterative determination of the maximum safe velocity, with experimental tests confirming its efficacy.…”

Section: State Of the Artmentioning

confidence: 99%

Considerations on the Dynamics of Biofidelic Sensors in the Assessment of Human–Robot Impacts

Samarathunga,

Valori,

Faglia

et al. 2023

Machines

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Ensuring the safety of physical human–robot interaction (pHRI) is of utmost importance for industries and organisations seeking to incorporate robots into their workspaces. To address this concern, the ISO/TS 15066:2016 outlines hazard analysis and preventive measures for ensuring safety in Human–Robot Collaboration (HRC). To analyse human–robot contact, it is common practice to separately evaluate the “transient” and “quasi-static” contact phases. Accurately measuring transient forces during close human–robot collaboration requires so-called “biofidelic” sensors that closely mimic human tissue properties, featuring adequate bandwidth and balanced damping. The dynamics of physical human–robot interactions using biofidelic measuring devices are being explored in this research. In this paper, one biofidelic sensor is tested to analyse its dynamic characteristics and identify the main factors influencing its performance and its practical applications for testing. To this aim, sensor parameters, such as natural frequency and damping coefficient, are estimated by utilising a custom physical pendulum setup to impact the sensor. Mathematical models developed to characterise the sensor system and pendulum dynamics are also disclosed.

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Modeling the Contact Force in Constrained Human–Robot Collisions

Cited by 2 publications

References 18 publications

Force and Pressure Dependent Asymmetric Workspace Research of a Collaborative Robot and Human

Force and Pressure Dependent Asymmetric Workspace Research of a Collaborative Robot and Human

Considerations on the Dynamics of Biofidelic Sensors in the Assessment of Human–Robot Impacts

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