CobotGear: Interaction with Collaborative Robots using Wearable Optical Motion Capturing Systems

Juan Heredia, Miguel Altamirano Cabrera, Jonathan Tirado, Vladislav Panov, Dzmitry Tsetserukou

Publikation: Bidrag til tidsskriftTidsskriftartikelForskningpeer review

Abstrakt

In industrial applications, complex tasks require human collaboration since the robot doesn’t have enough dexterity. However, the robots are still implemented as tools and not as collaborative intelligent systems. To ensure safety in the human-robot collaboration, we introduce a system that presents a new method that integrates low-cost wearable mocap, and an improved collision avoidance algorithm based on the artificial potential fields. Wearable optical motion capturing allows to track the human hand position with high accuracy and low latency on large working areas. To increase the efficiency of the proposed algorithm, two obstacle types are discriminated according to their collision probability. A preliminary experiment was performed to analyze the algorithm behavior and to select the best values for the obstacle’s threshold angle θOBS, and for the avoidance threshold distance d AT . The second experiment was carried out to evaluate the system performance with dAT=0.2m and θOBS=45 degrees. The third experiment evaluated the system in a real collaborative task. The results demonstrate the robust performance of the robotic arm generating smooth collision-free trajectories. The proposed technology will allow consumer robots to safely collaborate with humans in cluttered environments, e.g., factories, kitchens, living rooms, and restaurants.
OriginalsprogEngelsk
Tidsskrift2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)
Antal sider6
DOI
StatusUdgivet - aug. 2020
Udgivet eksterntJa
Begivenhed15th IEEE International Conference on Automation Science and Engineering, CASE 2020 - Online Zoom Meeting, Online Zoom Meeting
Varighed: 20. aug. 202021. aug. 2020
Konferencens nummer: 16

Konference

Konference15th IEEE International Conference on Automation Science and Engineering, CASE 2020
Nummer16
LokationOnline Zoom Meeting
ByOnline Zoom Meeting
Periode20/08/202021/08/2020

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