A Digital Twin-based Workspace Monitoring System for Safe Human-Robot Collaboration

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Abstract

Human-Robot Collaboration (HRC) requires rigorous safety standards to ensure the safety of the operator. To this end, one promising approach is to install safety-rated sensors in the workcell while considering collaboration methods such as the Safety-rated Monitored Stop (SMS) and Speed and Separation Monitoring (SSM). This paper proposes a Digital Twin (DT)-based workspace monitoring system to implement the approach for safe HRC with both industrial robots (IRs) and collaborative robots (cobots). In the DT framework, the pose of the operator is provided by laser scanners and a body-tracking camera, and the sensor data are processed to calculate the distance between the operator and the hazardous area in order to control the speed of the robots. We carry out experiments to demonstrate the speed scaling function of robots, and the results show that robots can dynamically adapt their movements according to the distance to guarantee a safe environment.
Original languageEnglish
Title of host publication2022 10th International Conference on Control, Mechatronics and Automation, ICCMA 2022
PublisherIEEE
Publication date2022
Pages24-30
ISBN (Electronic)9781665490481
DOIs
Publication statusPublished - 2022
Event10th International Conference on Control, Mechatronics and Automation (ICCMA) - University of Luxembourg, Luxembourg
Duration: 9. Nov 202212. Nov 2022
https://easychair.org/cfp/ICCMA2022

Conference

Conference10th International Conference on Control, Mechatronics and Automation (ICCMA)
LocationUniversity of Luxembourg
Country/TerritoryLuxembourg
Period09/11/202212/11/2022
Internet address

Keywords

  • Safety
  • Human-Robot Collaboration
  • Human-Robot Interaction (HRI)
  • Digital Twin
  • Industrial Robot
  • Collaborative Robot
  • human-robot collaboration
  • industrial robots
  • safety
  • digital twin
  • collaborative robots
  • workspace monitoring

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