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Safe and Efficient Human-Robot Collaboration Part I: Estimation of Human Arm Motions

Weitschat, Roman and Ehrensperger, Jan and Maier, Moritz and Aschemann, Harald (2018) Safe and Efficient Human-Robot Collaboration Part I: Estimation of Human Arm Motions. In: IEEE International Conference on Robotics and Automation ICRA. ICRA 2018, 21-25 May 2018, Brisbane, Australia.

[img] PDF (Human motion projection for efficient human-robot collaboration)


A significant barrier regarding a successful im- plementation of fenceless robot cells into manufacturing ar- eas with humans is given by the inefficiency due to safety requirements. Robot motions have to be slowed down so that an unexpected collision with a human does not result in human injuries. This velocity reduction leads to longer cycle times and, hence, fenceless robot cells turn out as uneconomic. In this paper, a new approach for human-robot collaboration in assembly tasks is presented. For a better performance of the robot, methods are investigated on how the robot can exploit a maximum performance while maintaining the safety of collaborating humans. For this purpose, the kinematics and dynamics of a human arm are described by a control-oriented dynamic model to determine its capability and reachability. Successful experiments validate the dynamic model as well as a corresponding projection approach for calculating possible movements of the human arm that may lead to a collision with the robot. Finally, this information is used to calculate an admissible path velocity that minimizes the danger of human injuries.

Item URL in elib:https://elib.dlr.de/120687/
Document Type:Conference or Workshop Item (Speech, Poster)
Title:Safe and Efficient Human-Robot Collaboration Part I: Estimation of Human Arm Motions
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Weitschat, Romanroman.weitschat (at) dlr.dehttps://orcid.org/0000-0002-3871-5306
Ehrensperger, Janjan (at) ehrensperger.deUNSPECIFIED
Maier, MoritzMoritz.Maier (at) dlr.dehttps://orcid.org/0000-0002-3447-7611
Aschemann, Haraldharald.aschemann (at) uni-rostock.dehttps://orcid.org/0000-0001-7789-5699
Date:May 2018
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Weitschat, Romanroman.weitschat@dlr.de
Keywords:human-robot interaction, human-robot collaboration, safety, path planning, human in the loop,
Event Title:ICRA 2018
Event Location:Brisbane, Australia
Event Type:international Conference
Event Dates:21-25 May 2018
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Interagierende Robotersteuerung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Weitschat, Roman
Deposited On:28 Nov 2018 11:09
Last Modified:31 Jul 2019 20:18

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