Model-Based Design of a Collaborative Human-Robot Workspace

Abstract:

This paper presents a complete design and validation of a specific case of a Human-Robot collaborative workspace consisting of a robot arm and a human operator working in a pick & place task in close proximity. The human motion monitoring is made with IMU-based wearables and optical markers, and the robot motion planning method considers safety distance criteria as prescribed in ISO/TS 15066. This case study is meant to illustrate the design of collaborative environments by using the Model-based Design approach. The goal is to systematically address the problems of safety assurance and performance optimization, allowing the use of optimization and machine learning approaches.

Año de publicación:

2022

Keywords:

Fuente:

google