Impact Force Reduction Strategies To Achieve Safer Human-Robot Collisions
| dc.contributor.author | Rouzbeh, Behrad | |
| dc.contributor.author | Bone, Gary M. | |
| dc.date.accessioned | 2018-11-06T14:09:33Z | |
| dc.date.available | 2018-11-06T14:09:33Z | |
| dc.date.issued | May-18 | |
| dc.description.abstract | The increasing use of robots operating close to people has made human-robot collisions more likely. In this paper, strategies intended to reduce the impact force to a safe level, without sacrificing the robot’s performance, are investigated. The strategies can be applied to a robot arm without modifying its internal hardware. They include the existing strategies: lowering the actuator controller’s stiffness; actuator switched off upon impact detection; withdrawing the arm upon impact detection; and adding a compliant cover. We also propose the novel strategy of limiting the controller’s feedback term. The collision scenario studied is a robot arm colliding with a person’s constrained head. An improved lumped parameter model of the constrained impact is proposed. Simulation results are included for a UR5 collaborative robot. Sixteen combinations of the impact force reduction strategies are compared. The results show that using a high stiffness controller with a feedback limit and compliant cover reduces the impact force to a safe level, and achieves precise trajectory tracking. | |
| dc.identifier | CSME195 | |
| dc.identifier.issn | 978-1-77355-023-7 | |
| dc.identifier.uri | http://hdl.handle.net/10315/35249 | |
| dc.identifier.uri | http://dx.doi.org/10.25071/10315/35249 | |
| dc.language.iso | en | en_US |
| dc.publisher | CSME-SCGM | en_US |
| dc.subject | Collaborative robot | |
| dc.subject | Compliant covering | |
| dc.subject | Human-robot collision | |
| dc.subject | Impact force | |
| dc.subject | Robot control | |
| dc.subject | Robot safety | |
| dc.subject | Mechatronics | en_US |
| dc.subject | Robots and Control | en_US |
| dc.title | Impact Force Reduction Strategies To Achieve Safer Human-Robot Collisions | en_US |
| dc.type | Article | en_US |