Recently, human–robot cooperation (HRC) research activities have focused on the development of new methodologies for the generation of safe robot trajectories. However, the applicability of such methodologies in a real context is limited due to the inherent uncertainty of robot trajectory execution time (i.e. the robot can avoid the worker by modifying its velocity along the path). This paper proposes an approach to estimate a confidence interval on robot trajectory execution time for scenarios in which human–robot space sharing is required. First, human arm movements are studied for a given set of assembly collaborative tasks: worker occupancy volumes and occupancy volume probabilities are derived. Then, a finite number of alternative robot trajectories, crossing human occupancy volumes with different occupancy probabilities, are generated. It is therefore possible to estimate a probability for the robot to reduce its velocity, and a confidence interval on the robot execution time. The application on a real assembly case is discussed.

A probabilistic approach to workspace sharing for human–robot cooperation in assembly tasks

PELLEGRINELLI, STEFANIA;MOLINARI TOSATTI, LORENZO;TOLIO, TULLIO ANTONIO MARIA
2016-01-01

Abstract

Recently, human–robot cooperation (HRC) research activities have focused on the development of new methodologies for the generation of safe robot trajectories. However, the applicability of such methodologies in a real context is limited due to the inherent uncertainty of robot trajectory execution time (i.e. the robot can avoid the worker by modifying its velocity along the path). This paper proposes an approach to estimate a confidence interval on robot trajectory execution time for scenarios in which human–robot space sharing is required. First, human arm movements are studied for a given set of assembly collaborative tasks: worker occupancy volumes and occupancy volume probabilities are derived. Then, a finite number of alternative robot trajectories, crossing human occupancy volumes with different occupancy probabilities, are generated. It is therefore possible to estimate a probability for the robot to reduce its velocity, and a confidence interval on the robot execution time. The application on a real assembly case is discussed.
2016
Human–robot cooperation; Motion; Planning; Mechanical Engineering; Industrial and Manufacturing Engineering
File in questo prodotto:
File Dimensione Formato  
A probabilistic approach to workspace sharing for human–robot cooperation in assembly tasks.pdf

Accesso riservato

: Publisher’s version
Dimensione 694.91 kB
Formato Adobe PDF
694.91 kB Adobe PDF   Visualizza/Apri
0A probabilistic approach to workspace sharing for human–robot cooperation in assembly tasks.pdf

accesso aperto

: Post-Print (DRAFT o Author’s Accepted Manuscript-AAM)
Dimensione 1.63 MB
Formato Adobe PDF
1.63 MB Adobe PDF Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1018395
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 51
  • ???jsp.display-item.citation.isi??? 43
social impact