On-line collision avoidance for collaborative robot manipulators by adjusting off-line generated paths: An industrial use case
TLDR
This study introduces the subject of manipulator’s on-line collision avoidance into a real industrial application implementing typical sensors and a commonly used collaborative industrial manipulator, KUKA iiwa.About:
This article is published in Robotics and Autonomous Systems.The article was published on 2019-09-01 and is currently open access. It has received 57 citations till now. The article focuses on the topics: Collision avoidance & Robot.read more
Citations
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Safety assurance mechanisms of collaborative robotic systems in manufacturing
TL;DR: To promote cobots in manufacturing applications, the future researches are expected for the systematic theory and methods to design and build cobots with the integration of ergonomic structures, sensing, real-time controls, and human-robot interfaces.
Journal ArticleDOI
Digitalization: An Opportunity for Contributing to Sustainability From Knowledge Creation
TL;DR: In this article, the authors explored the perspective of sustainability when digital transformation is adopted by one organization, although it was not the first goal targeted, and two different cases are analyzed, covering manufacturing and service industries.
Journal ArticleDOI
Collaborative Robotics: A Survey
TL;DR: The survey is intended to delineate an interpretation key for the design of collaborative robotics solution that explains the relationship among all relevant factors: actuation, control, safety, physical interaction, usability, and productivity.
Proceedings ArticleDOI
Internet of Things (IoT)-based Collaborative Control of a Redundant Manipulator for Teleoperated Minimally Invasive Surgeries
Hang Su,Salih Ertug Ovur,Zhijun Li,Yingbai Hu,Jiehao Li,Alois Knoll,Giancarlo Ferrigno,Elena De Momi +7 more
TL;DR: An Internet of Things-based human-robot collaborative control scheme developed in Robot-assisted Minimally Invasive Surgery scenario, designed to exploit the redundancies of the 7-DoFs redundant manipulator to handle multiple operational tasks based on their priority levels.
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An efficient RRT cache method in dynamic environments for path planning
TL;DR: An efficient bias-goal factor RRT (EBG-RRT), which is multiple-query sampling-based replanning algorithm, is proposed with rapid response and high success rate and is verified on ROS with Aubo-i5 manipulator.
References
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Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: This paper reformulated the manipulator con trol problem as direct control of manipulator motion in operational space—the space in which the task is originally described—rather than as control of the task's corresponding joint space motion obtained only after geometric and geometric transformation.
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Probabilistic roadmaps for path planning in high-dimensional configuration spaces
TL;DR: Experimental results show that path planning can be done in a fraction of a second on a contemporary workstation (/spl ap/150 MIPS), after learning for relatively short periods of time (a few dozen seconds).
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Requirements for Safe Robots: Measurements, Analysis and New Insights
TL;DR: An overview of the systematic evaluation of safety in human—robot interaction, covering various aspects of the most significant injury mechanisms is given, including the problem of the quasi-static constrained impact, which could pose a serious threat to the human even for low-inertia robots under certain circumstances.
Proceedings ArticleDOI
A depth space approach to human-robot collision avoidance
TL;DR: A fast method to evaluate distances between the robot and possibly moving obstacles (including humans), based on the concept of depth space, is used to generate repulsive vectors that are used to control the robot while executing a generic motion task.
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A framework for real-time path planning in changing environments
Seth Hutchinson,P. Leven +1 more
TL;DR: A new method for generating collision-free paths for robots operating in changing environments by constructing a graph that represents a roadmap in the configuration space, and how the mapping is generated and how it can be encoded efficiently using compression schemes that exploit redundancy in the mapping.