Hybrid Control Techniques for Static and Dynamic Environments: a Step towards Robot-Environment Interaction

Romanelli, Fabrizio

doi:10.5772/9314

Cited by 1 publication

(1 citation statement)

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“…The interested reader can find details about the current state of the art of collision avoidance in industrial contexts in literature, e.g., in [6], [7], [10], and [21], and about generic collision avoidance paradigms in [3] and [13]. An interesting solution towards an actual robot-environment interaction has been proposed in [16], where hybrid control techniques for static and dynamic environments have been developed, but with a limited validity, since only the Tool Center Point (TCP) of the robot was considered for collision avoidance, without taking into account its complex geometry and shape. Although this method was applied on a real-time system, it has the drawback of not being suitable for complex industrial applications, which require a control system able to cope with sophisticated shapes.…”

Section: Introductionmentioning

confidence: 99%

A real time distributed approach to collision avoidance for industrial manipulators

Fenucci

Indri

Romanelli³

2014

Proceedings of the 2014 IEEE Emerging Technology and Factory Automation (ETFA)

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Robot interaction with the surrounding environment is an important and newsworthy problem in the context of industrial and service robotics. Collision avoidance gives the robot the ability to avoid contacts with objects around it, but most of the industrial controls implementing collision avoidance checks only the robot Tool Center Point (TCP) over the objects in the cell, without taking into account the shape of the tool, mounted on the robot flange. In this paper a novel approach is proposed, based on an accurate 3D simulation of the robotic cell. A distributed real time computing approach has been chosen to avoid any overloading of the robot controller. The simulator and the client application are implemented in a personal computer, connected via a TCP-IP socket to the robot controller, which hosts and manages the anti-collision policies, based on a proper speed override control. The real time effectiveness of the proposed approach has been confirmed by experimental tests, carried out for a real industrial setup in two different scenarios.

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