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Zone-Based Robot Control for Safe and Efficient Interaction between Human and Industrial Robots

Published: 06 March 2017 Publication History

Abstract

Human robot shared workspace is usually divided into different zones, e.g. safe, warning, danger zones etc. In general, this kind of division could ensure the human safety during interaction with the industrial robots. However, the productivity, the efficiency and the diversity of the shared tasks have been overtaken. This work has proposed zone-based robot control based on 3D- advanced selection matrices. In every zone, every robot subspace could be vision-, force-, position or hybrid-controlled depending on the required tasks and the safety requirements. Using the proposed system, the industrial robots can perform various shared tasks with the human, including different control algorithms and safety procedures. The proposed control structure has been tested on different HRI scenarios.

References

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B. Nelson, D. Morrow, and P. Khosla, "Robotic Manipulation Using High Bandwidth Force and Vision Feedback", Mathematical and Computer Modeling (1996), vol. 24, No. 5/6, pp 11--29.
[2]
B. Navarro, A. Cherubini, A. Fonte, R. Passama, G. Poisson, & P. Fraisse, "An ISO10218-compliant adaptive damping controller for safe Physical Human-Robot Interaction," IEEE International Conference on Robotics and Automation (ICRA), Sweden, 2016.
[3]
C. Liu and M. Tomizuka, "Algorithmic Safety Measures for Intelligent Industrial Co-Robots," IEEE International Conference on Robotics and Automation (ICRA), Sweden, 2016.
[4]
M. Bdiwi and J. Suchy, "Library Automation Using Different Structure of Vision/Force Robot Control and Automatic Decision System" IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1677--1682, 2012.
[5]
Finkemeyer, B., Kröger, T., & Wahl, F. M. (2010). "The Adaptive Selection Matrix- A Key Component for Sensor-Based Control of Robotic Manipulators". IEEE International Conference on Robotics and Automation, USA.
[6]
Kröger, T., & Finkemeyer, B. (2011). "Robot Motion Control During Abrupt Switchings Between Manipulation Primitives". Workshop on Mobile Manipulation at the IEEE International Conference on Robotics and Automation

Cited By

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  • (2023)An Approach for Dynamic Robot-Risk Assessment in Agile Manufacturing Process towards Industry 4.02023 21st International Conference on Advanced Robotics (ICAR)10.1109/ICAR58858.2023.10406959(355-360)Online publication date: 5-Dec-2023
  • (2019)Integration of Camera and Inertial Measurement Unit for Entire Human Robot Interaction Using Machine Learning Algorithm2019 16th International Multi-Conference on Systems, Signals & Devices (SSD)10.1109/SSD.2019.8893167(741-746)Online publication date: Mar-2019

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  1. Zone-Based Robot Control for Safe and Efficient Interaction between Human and Industrial Robots

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    cover image ACM Conferences
    HRI '17: Proceedings of the Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction
    March 2017
    462 pages
    ISBN:9781450348850
    DOI:10.1145/3029798
    Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for third-party components of this work must be honored. For all other uses, contact the Owner/Author.

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    Association for Computing Machinery

    New York, NY, United States

    Publication History

    Published: 06 March 2017

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    Author Tags

    1. industrial robot control
    2. safety and efficiency in hri
    3. selection matrices.
    4. sensors fusion

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    HRI '17 Paper Acceptance Rate 51 of 211 submissions, 24%;
    Overall Acceptance Rate 192 of 519 submissions, 37%

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    HRI '25
    ACM/IEEE International Conference on Human-Robot Interaction
    March 4 - 6, 2025
    Melbourne , VIC , Australia

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    • (2023)An Approach for Dynamic Robot-Risk Assessment in Agile Manufacturing Process towards Industry 4.02023 21st International Conference on Advanced Robotics (ICAR)10.1109/ICAR58858.2023.10406959(355-360)Online publication date: 5-Dec-2023
    • (2019)Integration of Camera and Inertial Measurement Unit for Entire Human Robot Interaction Using Machine Learning Algorithm2019 16th International Multi-Conference on Systems, Signals & Devices (SSD)10.1109/SSD.2019.8893167(741-746)Online publication date: Mar-2019

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