Abstract
In the context of Industry 5.0, human–robot collaboration (HRC) is increasingly crucial for enabling safe and efficient operations in shared industrial workspaces. This study aims to implement a hybrid robotic architecture based on the Speed and Separation Monitoring (SSM) collaborative scenario defined in ISO/TS 15066. The system calculates the minimum protective separation distance between the robot and the operators and slows down or stops the robot according to the risk assessment computed in real time. Compared to existing solutions, the approach prevents collisions and maximizes workcell production by reducing the robot speed only when the calculated safety index indicates an imminent risk of collision. The proposed distributed software architecture utilizes the ROS2 framework, integrating three modules: (1) a fast and reliable human tracking module based on the OptiTrack system that considerably reduces latency times or false positives, (2) an intention estimation (IE) module, employing a linear Kalman filter (LKF) to predict the operator’s next position and velocity, thus considering the current scenario and not the worst case, and (3) a robot control module that computes the protective separation distance and assesses the safety index by measuring the Euclidean distance between operators and the robot. This module dynamically adjusts robot speed to maintain safety while minimizing unnecessary slowdowns, ensuring the efficiency of collaborative tasks. Experimental results demonstrate that the proposed system effectively balances safety and speed, optimizing overall performance in human–robot collaborative industrial environments, with significant improvements in productivity and reduced risk of accidents.
Published Version
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