With new, safer manipulator robots, the probability of serious injury due to collisions with humans remains low (5%), even at speeds as high as 2 m.s −1. Collisions would better be avoided nevertheless, because they disrupt the tasks of both the robot and the human. We propose in this paper to equip robots with exteroceptive sensors and online motion generation so that the robot is able to perceive and react to the motion of the human in order to reduce the occurrence of collisions. It's impossible to guarantee that no collision will ever take place in a partially unknown dynamic environment such as a shared workspace, but we can guarantee instead that, if a collision takes place, the robot is at rest at the time of collision, so that it doesn't inject its own kinetic energy in the collision. To do so, we adapt a Model Predictive Control scheme which has been demonstrated previously with two industrial manipulator robots avoiding collisions while sharing their workspace. The proposed control scheme is validated in simulation.
Industry 4.0 transforms classical industrial systems into more human-centric and digitized systems. Close human–robot collaboration is becoming more frequent, which means security and efficiency issues need to be carefully considered. In this paper, we propose to equip robots with exteroceptive sensors and online motion generation so that the robot is able to perceive and predict human trajectories and react to the motion of the human in order to reduce the occurrence of the collisions. The dataset for training is generated in a real environment in which a human and a robot are sharing their workspace. An Encoder–Decoder based network is proposed to predict the human hand trajectories. A Model Predictive Control (MPC) framework is also proposed, which is able to plan a collision-free trajectory in the shared workspace based on this human motion prediction. The proposed framework is validated in a real environment that ensures collision free collaboration between humans and robots in a shared workspace.
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