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Realtime collaborating with an industrial manipulator using a constraint-based programming approach
KTH, School of Industrial Engineering and Management (ITM), Production Engineering.ORCID iD: 0000-0002-4032-4830
KTH, School of Industrial Engineering and Management (ITM), Production Engineering.
KTH, School of Industrial Engineering and Management (ITM), Production Engineering.
KTH, School of Industrial Engineering and Management (ITM), Production Engineering.
2018 (English)In: 51st CIRP Conference on Manufacturing Systems, Elsevier, 2018, p. 105-110Conference paper, Published paper (Refereed)
Abstract [en]

Safety is the first and foremost step on our long journey to a future in which robots are moving out of the cage to collaborate with and assist people in various fields from entertainment to manufacturing. Different from the well-defined structured environment, safe robot control in a workspace with moving objects, e.g. a human, requires us to control the robot motion on the fly. In order to computationally efficiently achieve a feasible solution, we propose a constraint-based programming approach to guarantee the safe human-robot interaction. We use an optimization framework to integrate constraints from two-fold: the robot control constraints that are responsible for a generic robotic task and the online formulated safety constraints that are responsible for safe human-robot interaction. In this way, we preserve the task execution ability of a robot while guarantee the safe human-robot interaction. We validate the proposed approach with a Schunk industrial manipulator. The experimental results confirms the fact that the proposed approach has the potential to enable an industrial manipulator to work with a human coworker side-by-side.

Place, publisher, year, edition, pages
Elsevier, 2018. p. 105-110
Series
Procedia CIRP, ISSN 2212-8271
Keywords [en]
constraint-based programming, human-robot collaboration, reactive control
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-238375DOI: 10.1016/j.procir.2018.03.012Scopus ID: 2-s2.0-85049605643OAI: oai:DiVA.org:kth-238375DiVA, id: diva2:1263705
Conference
51st CIRP Conference on Manufacturing Systems, CIRP CMS 2018; Stockholm Waterfront Congress Centre Stockholm; Sweden; 16 May 2018 through 18 May 2018
Note

QC 20181116

Available from: 2018-11-16 Created: 2018-11-16 Last updated: 2018-11-16Bibliographically approved

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Wang, YuquanJi, Wei

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  • apa
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Output format
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