The new paradigm of human-robot collaboration has led to the creation of shared work environments in which humans and robots work in close contact with each other. Consequently, the safety regulations have been updated addressing these new scenarios. The mere application of these regulations may lead to a very inefficient behavior of the robot. In order to preserve safety for the human operators and allow the robot to reach a desired configuration in a safe and efficient way, a two layers architecture for trajectory planning and scaling is proposed. The first layer calculates the nominal trajectory and continuously adapts it based on the human behavior. The second layer, which explicitly considers the safety regulations, scales the robot velocity and requests for a new trajectory if the robot speed drops. The proposed architecture is experimentally validated on a Pilz PRBT manipulator.
翻译:人类-机器人合作的新范式导致创造共同的工作环境,使人类和机器人彼此密切接触,从而更新了安全条例,以应对这些新情况。仅仅适用这些条例,就可能导致机器人行为效率极低。为了维护人类操作者的安全,并使机器人能够以安全和高效的方式达到理想的配置,提议了轨道规划和缩放的两层结构。第一层计算了名义轨迹,并根据人类行为不断调整。第二层明确考虑了安全条例、机器人速度和在机器人速度下降时要求新的轨迹。拟议的结构在Pilz PRBT操纵器上进行了实验性验证。