The following research, for which our colleague Sunny is the corresponding author, is supported by EU funded ACROBA and CORESENSE projects.
This paper introduces a novel human-robot collaboration system developed by IMR as part of its Assembly Cell Station within WP6.
The system incorporates two strategically placed laser scanners, which not only divide the workspace into three standard safety zones, in accordance with ISO 13855 and TS 15066, but also into two adjacent dynamic quadrants. This configuration optimizes system uptime and prevents unnecessary deadlocks.
To further enhance system resilience, 3D depth map data is utilized to track articulated human movements and detect extended intrusions, enabling dependable physical human-robot interaction.
Additionally, a blended hierarchical velocity controller has been designed to regulate the robot’s speed, ensuring stability, as validated by the LaSalle Invariance Principle. The system’s performance is evaluated using practical metrics within an agile manufacturing context.
For further details, please refer to the full paper here.
