A Practical and Effective Layout for a Safe Human-Robot Collaborative Assembly Task

Applied Sciences

Mario Troise¹  Stefano Pastorelli¹  Stefano Mauro¹  LeonardoSabatino Scimmi¹  Matteo Melchiorre¹ 

[1] Department of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Torino, Italy;

关键词: collaborative robotics;    collaborative task;    collision avoidance;    trajectory planning;    vision system;    motion tracking;   

DOI  :  10.3390/app11041763

来源: DOAJ

【 摘 要 】

This work describes a layout to carry out a demonstrative assembly task, during which a collaborative robot performs pick-and-place tasks to supply an operator the parts that he/she has to assemble. In this scenario, the robot and operator share the workspace and a real time collision avoidance algorithm is implemented to modify the planned trajectories of the robot avoiding any collision with the human worker. The movements of the operator are tracked by two Microsoft Kinect v2 sensors to overcome problems related with occlusions and poor perception of a single camera. The data obtained by the two Kinect sensors are combined and then given as input to the collision avoidance algorithm. The experimental results show the effectiveness of the collision avoidance algorithm and the significant gain in terms of task times that the highest level of human-robot collaboration can bring.

【 授权许可】

Unknown