The co-presence of a robot and a human sharing some activities in an industrial setting constitutes a challenging scenario for control solutions, requiring highly flexible controllers to preserve productivity and enforce human safety. Standard methods are not suitable given the lack of methodologies able to evaluate robot execution time variability, caused by the necessity to continuously modify/adapt robot motions to grant human safety. This paper presents a novel dynamic planning system for Human-Robot Collaboration (HRC) which leverages an offline motion planning technique and deploys planning and execution features dealing with temporal uncertainty and kinematics both at planning and execution time. The proposed system is deployed in a manufacturing case study for controlling a working cell in which a robot and a human collaborate to achieve a shared production goal. The approach has been shown to be feasible and effective in a real case study.


    Access

    Download


    Export, share and cite



    Title :

    Planning and execution with robot trajectory generation in industrial human-robot collaboration



    Publication date :

    2018-01-01


    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Motion planning and scheduling for human and industrial-robot collaboration

    Pellegrinelli, Stefania / ORLANDINI, ANDREA / Pedrocchi, Nicola et al. | BASE | 2017

    Free access

    Evolutionary trajectory planning for an industrial robot

    Saravanan, R. / Ramabalan, S. / Balamurugan, C. et al. | British Library Online Contents | 2010


    HUMAN-ROBOT COLLABORATION

    FELIP LEON JAVIER / AHUJA NILESH / CAMPOS MACIAS LEOBARDO et al. | European Patent Office | 2021

    Free access

    Optimal Trajectory Planning for Robot

    Piao, Song Hao ;Zhong, Qiu Bo ;Wang, Xian Feng | Trans Tech Publications | 2011


    Kinematics Simulation and Material Delivery Trajectory Planning of Industrial Robot

    Dong, Guirong / Hou, Pihong / Wu, Ling et al. | Springer Verlag | 2022