Authors:
Simone di Napoli
1
;
Mattia Bertuletti
1
;
Mattia Gambazza
1
;
Matteo Ragaglia
1
;
Cesare Fantuzzi
2
and
Federica Ferraguti
2
Affiliations:
1
Gaiotto Automation (SACMI Group), Via Toscana 1, Piacenza PC 29122, Italy
;
2
DISMI, University of Modena and Reggio Emilia, Department of Sciences and Methods for Engineering, Via Amendola 2, Pad. Morselli - 42122 Reggio Emilia, Italy
Keyword(s):
Physical Human-Robot Interaction, Cooperative Robotics, Admittance Control, Walk-Through Programming.
Abstract:
Traditionally, industrial robots are programmed by highly specialized workers that either directly write code in platform-specific languages, or use dedicated hardware (teach-pendant) to move the robot through the desired via-points. Unsurprisingly, the inherently complex and time-consuming nature of this task is one of the factors that are still preventing industrial manipulators from being massively adopted by companies that require a high degree of flexibility in order to cope with limited production volumes and rapidly changing product requirements. In this context, the introduction of sensor-based walk-through programming approaches represents the ideal solution as far as the need to reduce programming complexity and time is concerned. Nevertheless, one of the typical shortcomings of these solutions consists in limited reachable velocities during the programming phase due to safety constraints. To this regard, this paper proposes a safety architecture for walk-through programmin
g of industrial manipulators specifically designed in order to reach high velocities while guaranteeing the operator’s safety. The proposed solution is validated on an industrial manipulator.
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