An ISO10218-compliant adaptive damping controller for safe physical human-robot interaction

Navarro, Benjamin; Cherubini, Andrea; Fonte, Aïcha; Passama, Robin; Poisson, Gérard; Fraisse, Philippe

doi:10.1109/icra.2016.7487468

Cited by 31 publications

(24 citation statements)

References 14 publications

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“…Different innovative safety solutions were proposed, and experimentally validated, in [8], [9], [10], [11], and [12]. Navarro et al presented an adaptive damping controller that fulfills ISO 10218 and enables the operator to manipulate the robot safely without the risk of exceeding the velocity, power and force constraints [8]. The controller was validated in an industrial screwing application.…”

Section: Literature Reviewmentioning

confidence: 99%

Safety Requirements for the Design of Collaborative Robotic Workstations in Europe – A Review

Faria¹,

Colim²,

Cunha³

et al. 2020

Advances in Intelligent Systems and Computing

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Industrial manufacturing is moving towards flexible and intelligent processes. Human-Robot Collaboration (HRC) has a pivotal role in smart factories due to a more versatile resource allocation that ultimately drives higher productivity and efficiency. The physical barriers that separate robots' and humans' workspaces are removed to facilitate HRC, which raises new safety concerns. To cope with this new robotics paradigm, regulatory legislation and international safety standards have been issued and are enforced for any machinery placed in factories. In this paper, we aim to shorten the gap between research projects and industry-ready robotic systems, by providing the guidelines and general requirements for collaborative robotic applications. We review the current international safety standards, certification procedures under the scope of European jurisdiction, and elaborate a literature review of papers related to safety for collaborative workstations.

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Section: Literature Reviewmentioning

confidence: 99%

Safety Requirements for the Design of Collaborative Robotic Workstations in Europe – A Review

Faria¹,

Colim²,

Cunha³

et al. 2020

Advances in Intelligent Systems and Computing

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“…The OpenPHRI library has been validated multiple times on BAZAR. Here, we outline two experiments, detailed respectively in [44] and [45].…”

Section: Safe Physical Human-robot Collaborationmentioning

confidence: 99%

A collaborative robot for the factory of the future: BAZAR

Cherubini

Passama

Navarro

et al. 2019

Int J Adv Manuf Technol

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This paper introduces BAZAR, a collaborative robot that integrates the most advanced sensing and actuating devices in a unique system designed for the Industry 4.0. We present BAZAR's three main features, which are all paramount in the factory of the future. These features are: mobility for navigating in dynamic environments, interaction for operating side-by-side with human workers and dual arm manipulation for transporting and assembling bulky objects. Keywords Efficient, flexible and modular production • Robotics • Smart Assembly • Human-robot co-working • Real industrial world case studies • Digital Manufacturing and Assembly System • Machine Learning.

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“…Different safety-related reaction strategies exist. One approach is to apply monitoring functions during the robot movement and automatically adapt the controller parameters during runtime (Haddadin et al, 2008b;Muñoz Osorio et al, 2019;Navarro et al, 2016;Raiola et al, 2018). The goal of those controllers is to limit the potential robot impact in case of an unintended collision.…”

Section: Introductionmentioning

confidence: 99%

Energy budgets for coordinate invariant robot control in physical human–robot interaction

Lachner

Allmendinger

Hobert

et al. 2021

The International Journal of Robotics Research

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In this work we consider the current certification process of applications with physical human–robot interaction (pHRI). Two major hazards are collisions and clamping scenarios. The implementation of safety measures in pHRI applications typically depends strongly on coordinates, e.g., to monitor the robot velocity or to predict external forces. We show that the current certification process does not, in general, guarantee a safe robot behavior. In particular, in unstructured environments it is not possible to predict all risks in advance. We therefore propose to control the energy of the robot, which is a coordinate invariant entity. For an impedance controlled robot, the total energy consists of potential energy and kinetic energy. The energy flow from task description to physical interaction follows a strict causality. We assign a safe energy budget for the robot. With this energy budget, the presented controller auto-tunes its parameters to limit the exchanged kinetic energy during a collision and the potential energy during clamping scenarios. In contact, the robot behaves compliantly and therefore eliminates clamping danger. After contact, the robot automatically continues to follow the desired trajectory. With this approach the number of safety-related parameters to be determined can be reduced to one energy value, which has the potential to significantly speed up the commissioning of pHRI applications. The proposed technique is validated by experiments.

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An ISO10218-compliant adaptive damping controller for safe physical human-robot interaction

Cited by 31 publications

References 14 publications

Safety Requirements for the Design of Collaborative Robotic Workstations in Europe – A Review

Safety Requirements for the Design of Collaborative Robotic Workstations in Europe – A Review

A collaborative robot for the factory of the future: BAZAR

Energy budgets for coordinate invariant robot control in physical human–robot interaction

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