Purpose – Aims to make an industrial robot work human‐friendly while coexisting with humans in a same working space, without any modification of the manipulator hardware as well as its motion controller. Design/methodology/approach – Presents a weighted path planning approach based on collision detection for a robot sharing the same workspace with humans. Using a base and wrist force/torque sensors, a model‐based method is investigated to estimate the collision force and collision position on the manipulator; then a weighted path planning approach is developed to control the human‐robot interaction. Simulation experiments, with collisions between the manipulator and static objects and moving objects, are conducted to validate the efficacy of the method. Findings – The experimental results illustrate the validity of the developed collision detection and planning scheme and make it possible for industrial robots to work safely around humans. The proposed weighted path planner (WPP) outperforms other three path planners. Originality/value – Introduces the WPP based on collision detection. The wrist and base force/torque sensors configuration has the friction free benefit, and the developed method does not modify the existing designs of industrial robots. The contact force is well controlled under the human pain tolerance limit, through the modification of the desired path, and does not need torque control which is usually not available to industrial robots.
Industrial Robot: An International Journal – Emerald Publishing
Published: Dec 1, 2005
Keywords: Robotics; Collisions; Motion
It’s your single place to instantly
discover and read the research
that matters to you.
Enjoy affordable access to
over 18 million articles from more than
15,000 peer-reviewed journals.
All for just $49/month
Query the DeepDyve database, plus search all of PubMed and Google Scholar seamlessly
Save any article or search result from DeepDyve, PubMed, and Google Scholar... all in one place.
Get unlimited, online access to over 18 million full-text articles from more than 15,000 scientific journals.
Read from thousands of the leading scholarly journals from SpringerNature, Elsevier, Wiley-Blackwell, Oxford University Press and more.
All the latest content is available, no embargo periods.
“Hi guys, I cannot tell you how much I love this resource. Incredible. I really believe you've hit the nail on the head with this site in regards to solving the research-purchase issue.”Daniel C.
“Whoa! It’s like Spotify but for academic articles.”@Phil_Robichaud
“I must say, @deepdyve is a fabulous solution to the independent researcher's problem of #access to #information.”@deepthiw
“My last article couldn't be possible without the platform @deepdyve that makes journal papers cheaper.”@JoseServera