Robot Speed Adaption in Multiple Trajectory Planning and Integration in a Simulation Tool for Human-Robot Interaction

Abstract Speed and separation monitoring (SSM) is one of the four permissible collaborative operations in human-robot interaction (HRI). At all times, it must be ensured that speed-dependent distance maintained. To guarantee this, robot speed or path can adapted. In this paper, adaption for multiple trajectories implemented an HRI simulation tool tested application example. Thereby, numerous complex process situations, such as a temporary stop obstacles workspace, simulated. The enables comprehensive simulation, analysis optimisation human motions within HRI, already planning phase.