Real-time safety for human–robot interaction |
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| Affiliation: | 1. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200444, China;2. Department of Civil and Mechanical Engineering, Purdue University Fort Wayne, Fort Wayne, IN, , United States;3. Department of Electrical and Computer Engineering, Mississippi State University, Mississippi State, MS , United States;4. Department of Mechanical Engineering, University of Saskatchewan, Saskatoon, SK, S7N 5A9, Canada;5. Department of Production Engineering, KTH Royal Institute of Technology, Stockholm 10044, Sweden |
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| Abstract: | This paper presents a strategy for ensuring safety during human–robot interaction in real time. A measure of danger during the interaction is explicitly computed, based on factors affecting the impact force during a potential collision between the human and the robot. This danger index is then used as an input to real-time trajectory generation when the index exceeds a predefined threshold. The danger index is formulated to produce a provably stable, fast response in the presence of multiple surrounding obstacles. A motion strategy to minimize the danger index is developed for articulated multi-degree-of-freedom robots. Simulations and experiments show the efficacy of this approach. |
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