DocumentCode :
1766735
Title :
Safety Control of Industrial Robots Based on a Distributed Distance Sensor
Author :
Buizza Avanzini, Giovanni ; Ceriani, Nicola Maria ; Zanchettin, Andrea Maria ; Rocco, Paolo ; Bascetta, Luca
Author_Institution :
Dipt. di Elettron., Inf. e Bioingegneria, Politec. di Milano, Milan, Italy
Volume :
22
Issue :
6
fYear :
2014
fDate :
Nov. 2014
Firstpage :
2127
Lastpage :
2140
Abstract :
In the field of human-robot interaction in industrial environments, the active control of robot based on exteroceptive sensors´ measurements is a viable approach to the issue of safety enhancement. Among all possible solutions, onboard sensors have several advantages, in terms of ease of deployment and calibration, and absence of occlusions. In this paper, we present a prototype of a distributed distance sensor that can be mounted on an industrial robot. The sensor´s outputs have been used as part of a newly conceived control strategy, aimed at improving human safety by means of assessing the level of danger induced by the robot. Several experiments on an ABB IRB140 industrial robot have been carried out, demonstrating the feasibility of the proposed approach in a realistic scenario.
Keywords :
distributed control; human-robot interaction; industrial robots; sensors; ABB IRB140 industrial robot; control strategy; distributed distance sensor; exteroceptive sensor measurements; human-robot interaction; safety control; safety enhancement; Human-robot interaction; Manipulators; Robot control; Robot sensing systems; Safety; Service robots; Human-robot interaction; Human???robot interaction; industrial robotics; proximity sensors; robot control; safety assessment; safety assessment.;
fLanguage :
English
Journal_Title :
Control Systems Technology, IEEE Transactions on
Publisher :
ieee
ISSN :
1063-6536
Type :
jour
DOI :
10.1109/TCST.2014.2300696
Filename :
6740805
Link To Document :
بازگشت