Online velocity constraint adaptation for safe and efficient human-robot workspace sharing

Joseph, Lucas; Pickard, Joshua K.; Padois, Vincent; Daney, David

doi:10.1109/iros45743.2020.9340961

Cited by 13 publications

(5 citation statements)

References 20 publications

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“…For instance, in [28], [29], the stopping time is computed within an optimization procedure that accounts for the robot's current state, its dynamical model and the actuation torque bounds. A kinematic approach from [31] estimates the stopping time based on the current velocity of the robot and the specified joint acceleration and jerk bounds.…”

Section: Adaptive Braking Timementioning

confidence: 99%

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Safe Human-Robot Collaboration via Collision Checking and Explicit Representation of Danger Zones

Lačević

Zanchettin

Rocco

2023

IEEE Trans. Automat. Sci. Eng.

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This paper deals with safe human-robot collaboration in the context of speed and separation monitoring paradigm. The core of the approach is to continuously track the separation distance between the robot and the human. The robot speed is then adjusted according to the perceived distance so that it will be able to stop before eventually come into contact with the human. We present an approach that aims at maximizing the productivity of the robot, i.e., its speed, while keeping the prescribed safety requirements satisfied. The method is based on explicit representation of danger zones -regions around the robot, where safety requirements are violated. The motion is then generated such that the robot moves as fast as possible, while its danger zone still does not collide with human operators. The approach is validated within an experimental study.Note to Practitioners-This article was motivated by the problem of maximizing productivity of the robotic manipulator while ensuring the safety of human collaborator. The increase in productivity is achieved by a faster traversal of predefined paths without compromising the safety of the human, which is specifically defined by industrial standard. The approach requires limited knowledge on robot's dynamical properties. More precisely, we only need the braking time as a "lumped" representation of robot's inertia. The underlying optimization problem is conveniently resolved by introducing danger zones that allow for intuitive visualization and geometrical representation of the regions around the robot that must be avoided. On the other hand, the method assumes the representation of humans via typical geometric primitives, which can be obtained using ofthe-shelf depth perception systems. The solution to the problem reduces to a repeated collision checking between danger zones and the human. Such an approach turns out to be suitable for real-time implementation due to availability of fast and efficient collision checking algorithms/libraries.

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Section: Adaptive Braking Timementioning

confidence: 99%

“…Another technique known as power and force limitation (PFL) has been created for scenarios that enable physical interactions [30]. This method is based on establishing an upper bound of energy that may be transferred from the robot to human in the event of a collision [31]. Similarly to SSM, the PFL method is based on a safety standard.…”

mentioning

confidence: 99%

Safe Human-Robot Collaboration via Collision Checking and Explicit Representation of Danger Zones

Lačević

Zanchettin

Rocco

2023

IEEE Trans. Automat. Sci. Eng.

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“…The overall trajectory-based DSM ∆ T for all the constraints listed in Section III-B, can be computed as. ∆ T (q, q, q v ) = min κ τ ∆ τ , κ q ∆ q , κ q ∆ q , κ ẋe ∆ ẋe , κ w ∆ w , κ s ∆ s , κ c ∆ c (33) with κ τ , κ q , κ q , κ ẋe , κ w , κ s , and κ c all arbitrary positive scaling factors.…”

Section: B Trajectory-based Explicit Reference Governormentioning

confidence: 99%

Real-time motion control of robotic manipulators for safe human–robot coexistence

Merckaert

Convens

et al. 2022

Robotics and Computer-Integrated Manufacturing

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“…The PSD may change dynamically in time (depending on the robot and human states) or may be fixed as the worst case scenario. One way to reduce the PSD is to adapt and reduce the robot's speed (Zanchettin et al, 2016) (Joseph et al, 2020).…”

Section: Speed and Separation Monitoringmentioning

confidence: 99%

Using Physics-Based Digital Twins and Extended Reality for the Safety and Ergonomics Evaluation of Cobotic Workstations

Weistroffer

Keith

Bisiaux

et al. 2022

Front. Virtual Real.

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Cobotic workstations in industrial plants involve a new kind of collaborative robots that can interact with operators. These cobots enable more flexibility and they can reduce the cycle time and the floor space of the workstation. However, cobots also introduce new safety concerns with regard to operators, and they may have an impact on the workstation ergonomics. For those reasons, introducing cobots in a workstation always require additional studies on safety and ergonomics before being applied and certified. Certification rules are often complex to understand. We present the SEEROB framework for the Safety and Ergonomics Evaluation of ROBotic workstations. The SEEROB framework simulates a physics-based digital twin of the cobotic workstation and computes a large panel of criteria used for safety and ergonomics. These criteria may be processed for the certification of the workstation. The SEEROB framework also uses extended reality technologies to display the digital twin and its associated data: users can use virtual reality headsets for the design of non-existing workstations, and mixed reality devices to better understand safety and ergonomics constraints on existing workstations. The SEEROB framework was tested on various laboratory and industrial use cases, involving different kinds of robots.

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Online velocity constraint adaptation for safe and efficient human-robot workspace sharing

Cited by 13 publications

References 20 publications

Safe Human-Robot Collaboration via Collision Checking and Explicit Representation of Danger Zones

Safe Human-Robot Collaboration via Collision Checking and Explicit Representation of Danger Zones

Real-time motion control of robotic manipulators for safe human–robot coexistence

Using Physics-Based Digital Twins and Extended Reality for the Safety and Ergonomics Evaluation of Cobotic Workstations

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