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Safe and Efficient Human–Robot Collaboration Part II: Optimal Generalized Human-in-the-Loop Real-Time Motion Generation

Weitschat, Roman and Aschemann, Harald (2018) Safe and Efficient Human–Robot Collaboration Part II: Optimal Generalized Human-in-the-Loop Real-Time Motion Generation. IEEE Robotics and Automation Letters, 3 (4), pp. 3781-3788. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2018.2856531. ISSN 2377-3766.

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Official URL: https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8411487


The coexistence of humans and robots in fenceless robot cells requires robust safety precautions to prevent humans from being injured. Currently, safety is ensured by limiting the robot velocity, force, and power. This results in large cycle times and, hence, very inefficient industrial applications, where no amortization of the robotic system can be expected. In this letter, a novel method for improving the robot performance is presented that still complies with the international safety standards for collaborative robots. The approach of this letter is based on a projection of a human arm motion into the robot's path to estimate a possible collision with the robot. This idea is addressed in an optimization approach by minimizing the time needed by the robot to reach the goal position under human-in-the-loop constraints. The segmented path is optimized by solving a nonlinear programming problem, and the effect of crucial parameters is analyzed. To guarantee a flexible motion of the resulting optimized path, a generalization method using dynamic movement primitives and the compliance of constraints are proposed. Experiments validate this new method that significantly improves the efficiency of human–robot coexistence.

Item URL in elib:https://elib.dlr.de/121351/
Document Type:Article
Title:Safe and Efficient Human–Robot Collaboration Part II: Optimal Generalized Human-in-the-Loop Real-Time Motion Generation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Weitschat, RomanUNSPECIFIEDhttps://orcid.org/0000-0002-3871-5306UNSPECIFIED
Aschemann, HaraldUNSPECIFIEDhttps://orcid.org/0000-0001-7789-5699UNSPECIFIED
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 3781-3788
EditorsEmailEditor's ORCID iDORCID Put Code
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Series Name:IEEE Robotics and Automation Letters ( Volume: 3, Issue: 4, Oct. 2018 )
Keywords:Collision avoidance, Motion segmentation, Optimization, Service robots, Safety, Collaboration Human detection and tracking, human-centered robotics, human-centered automation, motion and path planning, motion control, collision avoidance, factory automation, human factors and human-in-the-loop
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Terrestrial Assistance Robotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Weitschat, Roman
Deposited On:29 Nov 2018 15:47
Last Modified:08 Nov 2023 14:48

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