The advent of industrial scenarios involving close interaction between humans and robots, without physical barriers, requires careful examination of the impact on safety and human work experience. In this paper a control framework for Human-Robot Collaboration (HRC) that explicitly integrates human emotions and ISO/TS 15066 safety requirements is proposed. The framework employs a motion planning strategy to generate collision-free trajectories considering only the robot joints limits. Subsequently, the speed of the robot is modulated online in order to ensure a safe and efficient collaboration. In other words, the behaviour of the robot adapts to the human operator emotions. The overall framework has been validated on a UR5e.
Emotion-Aware Control Framework for Human-Robot Collaboration
Springer Proceedings in Advanced Robotics
International Workshop on Human-Friendly Robotics ; 2023 ; Munich, Germany September 20, 2023 - September 21, 2023
2024-03-10
13 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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