Abstract
The concept of “Industry 4.0” relies heavily on the utilization of collaborative robotic applications. As a result, the need for an effective, natural, and ergonomic interface arises, as more workers will be required to work with robots. Designing and implementing natural forms of human–robot interaction (HRI) is key to ensuring efficient and productive collaboration between humans and robots. This paper presents a gestural framework for controlling a collaborative robotic manipulator using pointing gestures. The core principle lies in the ability of the user to send the robot’s end effector to the location towards, which he points to by his hand. The main idea is derived from the concept of so-called “linear HRI”. The framework utilizes a collaborative robotic arm UR5e and the state-of-the-art human body tracking sensor Leap Motion. The user is not required to wear any equipment. The paper describes the overview of the framework’s core method and provides the necessary mathematical background. An experimental evaluation of the method is provided, and the main influencing factors are identified. A unique robotic collaborative workspace called Complex Collaborative HRI Workplace (COCOHRIP) was designed around the gestural framework to evaluate the method and provide the basis for the future development of HRI applications.
Highlights
Collaborative robotic applications are, nowadays, well-established and commonly used concepts of technology
The main goal of such applications is to combine the strengths of both humans and robotic systems to achieve maximum effectiveness in completing a specified task while minimizing the risks imposed on the human worker
The Leap Motion sensor determines the position of the joints of the human hand in its coordinate system L; the robotic manipulator operates in its coordinate system
Summary
Collaborative robotic applications are, nowadays, well-established and commonly used concepts of technology. This, introduces new arduous challenges to overcome, primarily how to secure the safety of a human worker, while ensuring high work effectiveness. The former problem focuses mainly on minimizing potential risks and avoiding accidents from collaborative work between the human worker and a robot, not considering the work efficiency. The latter aims to find the methods capable of maximizing the overall productivity of such collaboration. It is necessary to pay more attention to the interaction between the human and robotic systems, referred to as HRI, researching the impact and influence of the whole human–robot relationship, developing new approaches capable of meeting today’s production demands
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