Safe Human-Robot Cooperation in an Industrial Environment

Safe Human-Robot Cooperation in an Industrial Environment

The standard EN ISO10218 is fostering the implementation of hybrid production systems, i.e., production systems characterized by a close relationship among human operators and robots in cooperative tasks. Human‐robot hybrid systems could have a big economic benefit in small and medium sized production, even if this new paradigm introduces mandatory, challenging safety a...

Cooperation between Human Beings and Robot Systems in an Industrial Environment

In this paper an new intelligent robot control scheme is presented which enables a cooperative work of humans and robots through direct contact interaction in a partially known environment. Because of the high flexibility and adaptability, the human-robot cooperation is expected to have a wide range of applications in uncertain environments, not only in future construction and manufacturing ind...

Safe human-robot-cooperation: image-based collision detection for industrial robots

This paper analyzes the problem of sensor-based collision detection for an industrial robotic manipulator. A method to perform collision tests based on images taken from several stationary cameras in the work cell is presented. The collision test works entirely based on the images, and does not construct a representation of the Cartesian space. It is shown how to perform a collision test for al...

Safe Cooperation between Human Operators and Visually Controlled Industrial Manipulators

Sensor-based trajectory generation for safe human-robot cooperation

This paper presents a strategy for sensor-based trajectory generation in unstructured environments which guarantees the achievement of the goal position without incurring in local minima. The passivity of the closed-loop system renders this control scheme well-suited for human-robot cooperation, especially when the robot is supposed physically interact with humans. The given control law has bee...