Abstract
Speed and separation monitoring (SSM) is one of the four permissible collaborative operations in human-robot interaction (HRI). At all times, it must be ensured that the speed-dependent separation distance is maintained. To guarantee this, the robot speed or the robot path can be adapted. In this paper, the robot speed adaption for multiple trajectories is implemented in an HRI simulation tool and tested in an application example. Thereby, numerous complex process situations, such as a temporary robot stop or obstacles in the collaborative workspace, can be simulated. The simulation tool enables a comprehensive simulation, analysis and optimisation of human and robot motions within the HRI, already in the planning phase.
Highlights
Due to the elimination of the separating safeguards, which was enabled by the strong development in the field of industrial robotics and sensor technology, humans and robots share a common workstation within a collaborative workspace
The aim of this paper is to extend the existing simulation tool to provide a reliable tool for planning and simulation of human-robot interaction (HRI) scenarios with adaptive motion planning
If the robot falls below the separation distance Sc so much, that even the speed adaption can no longer generate a positive solution for vr,c, the robot must stop immediately
Summary
Due to the elimination of the separating safeguards, which was enabled by the strong development in the field of industrial robotics and sensor technology, humans and robots share a common workstation within a collaborative workspace. Due to the complexity of the collaborative production system and the necessary safety requirements, a simulation tool is of enormous importance It enables the planning, visualisation and simulation of a collaborative system well before it goes into initial operation. We model possible situations of speed and path adaption in the context of the adaptive motion planning and implement them into the simulation tool. We consider the situation when the current distance is fallen so far below the separation distance that the speed adaption fails. In this case, a robot stop must be executed.
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