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Human tracking from quantised sensors: An application to safe human–robot collaboration.
- Source :
-
Control Engineering Practice . Dec2023, Vol. 141, pN.PAG-N.PAG. 1p. - Publication Year :
- 2023
-
Abstract
- The proliferation of cage-less robotic applications is justifying this research which proposes a method to process the output of safety sensors with the aim of maximising the productivity of the robot in a collaborative scenario. Particularly, the Speed and Separation Monitoring (SSM) strategy, which prescribes the robot to reduce its speed proportionally to the vicinity of the human, will be investigated. In state-of-the-art industrial implementations, SSM is implemented in a very conservative way, without exploiting the capabilities of modern sensing devices. This work proposes a methodology to improve the performance of SSM algorithms while dealing finite and quantised 2D cost-effective sensing capabilities. The strategy is verified experimentally as applied on a palletising application with a Comau SmartSix industrial robot, showing slightly improved performance with respect to standard practice. [ABSTRACT FROM AUTHOR]
- Subjects :
- *INDUSTRIAL robots
*DETECTORS
*PERFORMANCE standards
*HUMAN beings
*ROBOTICS
Subjects
Details
- Language :
- English
- ISSN :
- 09670661
- Volume :
- 141
- Database :
- Academic Search Index
- Journal :
- Control Engineering Practice
- Publication Type :
- Academic Journal
- Accession number :
- 173234540
- Full Text :
- https://doi.org/10.1016/j.conengprac.2023.105727