Flexible sensor concept and an efficient integrated sensing controlling for an efficient human-robot collaboration using 3D local global sensing systems

Frontiers in Robotics and AI

Robotics and AI

Ibrahim Alnaser¹  Steffen Ihlenfeldt¹  Mohamad Bdiwi¹  Aquib Rashid² 

[1]Department of Cognitive Human Machine Systems, Fraunhofer Institute for Machine Tools and Forming Technology, Chemnitz, Germany

[2]null

关键词: collision avoidance;    human–robot collaboration;    intrusion distance;    sensor concept;    distance sensors;   

DOI  :  10.3389/frobt.2023.1028411

 received in 2022-08-26, accepted in 2023-01-23,  发布年份 2023

来源: Frontiers

【 摘 要 】

Human-robot collaboration with traditional industrial robots is a cardinal step towards agile manufacturing and re-manufacturing processes. These processes require constant human presence, which results in lower operational efficiency based on current industrial collision avoidance systems. The work proposes a novel local and global sensing framework, which discusses a flexible sensor concept comprising a single 2D or 3D LiDAR while formulating occlusion due to the robot body. Moreover, this work extends the previous local global sensing methodology to incorporate local (co-moving) 3D sensors on the robot body. The local 3D camera faces toward the robot occlusion area, resulted from the robot body in front of a single global 3D LiDAR. Apart from the sensor concept, this work also proposes an efficient method to estimate sensitivity and reactivity of sensing and control sub-systems The proposed methodologies are tested with a heavy-duty industrial robot along with a 3D LiDAR and camera. The integrated local global sensing methods allow high robot speeds resulting in process efficiency while ensuring human safety and sensor flexibility.

【 授权许可】

Unknown   
Copyright © 2023 Rashid, Alnaser, Bdiwi and Ihlenfeldt.