Abstract
The FREE experiment addresses the field of small-batch production where handwork is still the main manufacturing option since automation is more expensive and lacks the prescribed flexibility. FREE aims at addressing this situation by introducing a flexible and safe interactive human-robot environment, achievable through a combination of standard commercial robot equipments with the state of the art safety and control technologies. The core idea is to add to the system a further control loop operating at a level hierarchically superior with respect to the standard robot controller. Such a control loop, defined “Superior Hierarchical Control”, is the interface between the robot and the human operator through a variety of sensors providing contact-less human position detection for safety and human work recording for task learning.KeywordsTraining by demonstrationautomated weldinghuman-robot interaction
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