When human and collaborative robots share their workspace, they manipulate objects together, exchange forces and they might even be in direct physical contact. In this context, the safety of human coworkers becomes a crucial aspect that classical collision avoidance cannot guarantee. This thesis introduces new concepts to minimize the potential physical harm that a robot can cause in quasi-static manipulations, especially in clamping situations. Using anthropometric data, as well as a priori geometric knowledge about the environment, we propose a method to continuously monitor possible clamping situations, and a control scheme to reduce their hazards. Therefore, we elaborate several circumstances that must apply in clamping situations and demonstrate an algorithm that checks their fulfillment in real-time using a hierarchy of Bounding Volumes. Robot manipulation is rendered safe by limiting the contact forces adaptively in clamping situations.
Safe robot compliance strategies in potential human clamping situations
2019-03-13
Article (Journal)
Electronic Resource
English
ddc:000 , Informatik , Wissen , Systeme , ddc:620 , Ingenieurwissenschaften
Compliance Control of Robot Manipulator for Safe Physical Human Robot Interaction
BASE | 2011
|PRE-SAFE in rear-end collision situations
Automotive engineering | 2009
|