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Collision detection for collaborative assembly operations on high-payload robots
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DOI：10.1016/j.rcim.2023.102708.png)
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摘要
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Human-robot collaboration for high-payload industrial applications has the potential to unlock new applications and improve operator ergonomics. However, ensuring safety with closer proximity remains challenging due to the large payload. Collision detection can improve safety, but must be modified to consider the dynamics of high payload applications (internal oscillation, effective low-pass filtering of external force), while the higher inertia raises questions about the resulting collision forces. This paper proposes the first collision detection approach for high-payload applications, using a force/torque sensor at the end-effector and motor current measurements for redundancy to be compliant with ISO/TS 15066:2016. Analysis of a linear model informs the design of the detection algorithm and effect of higher payload. Experimental validation shows feasibility and performance of collision detection over a range of motion and payload conditions, and the impact of the safety system in improving an industrial use-case.
Keyword:
Human-robot collaboration
Safety
Sensor
Collision detection
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An Online Robot Collision Detection and Identification Scheme by Supervised Learning and Bayesian Decision Theory基于监督学习和贝叶斯决策理论的在线机器人碰撞检测和识别方案OAAI
OAAI分享收藏Development and validation of guidelines for safety in human-robot collaborative assembly systems开发和验证人机协作装配系统中的安全指南OAAI
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