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Dynamic Projection of Human Motion for Safe and Efficient Human-Robot-Collaboration

Meng, Xuming (2019) Dynamic Projection of Human Motion for Safe and Efficient Human-Robot-Collaboration. DLR-Interner Bericht. DLR-IB-RM-OP-2019-173. Master's. Technical University of Munich. 89 S.

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In the modern manufacturing process, novel technologies enable the collaboration between humans and robots, which increases productivity by keeping flexibility. However, these technologies also lead to new challenges, e.g. ensuring safety for the human being in fenceless robot applications. State-of-the-art methods include, for example, the sensor technologies detect collisions to slow the robot velocities to have a low impact or to stop the robot while entering the shared workspace. Hence, the new research about the exploitation of a better performance in Human-Robot Collaboration (HRC) while maintaining the safety of the human attracts the attention. To achieve this goal, one strategy is to add an additional speed margin if a "worst-case" movement of the human can be predicted. In the context of this work, an approach of the dynamic human motion projection is proposed for typical assembly tasks. The human upper body is simplified as a five-degree-of-freedom (5-DOF) rigid-body model. A control-oriented projection model is proposed and its parameters are estimated from the experiment data of the human capability. In combination with a human-state estimator and a collision estimator, the "worst-case" motion is projected during the HRC scenario. This method is tested and validated in online and offline cases. In the end, the estimated collision time is used for calculating the increased speed limit of the robot, which verifies the improvement of the efficiency of HRC.

Item URL in elib:https://elib.dlr.de/131927/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Dynamic Projection of Human Motion for Safe and Efficient Human-Robot-Collaboration
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Meng, XumingUNSPECIFIEDhttps://orcid.org/0000-0001-5642-1830UNSPECIFIED
Date:9 December 2019
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:89
Keywords:human-robot collaboration, safety, human motion prediction, human in the loop, human capability
Institution:Technical University of Munich
Department:Department of Mechanical Engineering
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 - Interacting Robot Control [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Meng, Xuming
Deposited On:17 Dec 2019 13:38
Last Modified:28 Mar 2023 23:55

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