Toward safe and high-performance human–robot collaboration via implementation of redundancy and understanding the effects of admittance term parameters

Today, demandsin industrial manufacturing mandate humans to work with large-scale industrial robots, and this collaboration may result in dangerous conditions for humans. To deal with this situation, this work proposes a novel approach for redundant large-scale industrial robots. In the proposed app...

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Vydáno v:Robotica Ročník 40; číslo 7; s. 2112 - 2127
Hlavní autoři: Kanık, Mert, Ayit, Orhan, Dede, Mehmet Ismet Can, Tatlicioglu, Enver
Médium: Journal Article
Jazyk:angličtina
Vydáno: Cambridge, UK Cambridge University Press 01.07.2022
Témata:
Algorithms
Collaboration
Collision avoidance
Control systems design
Controllers
Electrical impedance
End effectors
Human performance
Industrial robots
Obstacle avoidance
Parameters
Redundancy
Robots
obstacle avoidance
admittance control
collaborative robot
redundancy resolution
human–robot interaction
ISSN:0263-5747, 1469-8668
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Shrnutí:Today, demandsin industrial manufacturing mandate humans to work with large-scale industrial robots, and this collaboration may result in dangerous conditions for humans. To deal with this situation, this work proposes a novel approach for redundant large-scale industrial robots. In the proposed approach, an admittance controller is designed to regulate the interaction between the end effector of the robot and the human. Additionally, an obstacle avoidance algorithm is implemented in the null space of the robot to prevent any possible unexpected collision between the human and the links of the robot. After safety performance of this approach is verified via simulations and experimental studies, the effect of the parameters of the admittance controller on the performance of collaboration in terms of both accuracy and total human effort is investigated. This investigation is carried out via 8 experiments by the participation of 10 test subjects in which the effect of different admittance controller parameters such as mass and damper are compared. As a result of this investigation, tuning insights for such parameters are revealed.
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ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574721001569