オフライン生成経路の調整による協働ロボットマニピュレータのオンライン衝突回避：産業応用事例
On-line collision avoidance for collaborative robot manipulators by adjusting off-line generated paths: An industrial use case
産業用協働ロボットKUKA iiwaを用い、人間をカプセルで表現して反発・引力ベクトルと運動学を組み合わせ、オフライン生成した経路をオンラインで修正することで衝突を回避する手法を実装・検証した論文。
著者: Mohammad Safeea, Pedro Neto, Richard Bearee
分類: cs.RO
原文アブストラクト
Human-robot collision avoidance is a key in collaborative robotics and in the framework of Industry 4.0. It plays an important role for achieving safety criteria while having humans and machines working side-by-side in unstructured and time-varying environment. This study introduces the subject of manipulator's on-line collision avoidance into a real industrial application implementing typical sensors and a commonly used collaborative industrial manipulator, KUKA iiwa. In the proposed methodology, the human co-worker and the robot are represented by geometric primitives (capsules). The minimum distance and relative velocity between them is calculated, when human/obstacles are nearby the concept of hypothetical repulsion and attraction vectors is used. By coupling this concept with a mathematical representation of robot's kinematics, a task level control with collision avoidance capability is achieved. Consequently, the off-line generated nominal path of the industrial task is modified on-the-fly so the robot is able to avoid collision with the co-worker safely while being able to fulfill the industrial operation. To guarantee motion continuity when switching between different tasks, the notion of repulsion-vector-reshaping is introduced. Tests on an assembly robotic cell in automotive industry show that the robot moves smoothly and avoids collisions successfully by adjusting the off-line generated nominal paths.
