Collaborative Robotics Safety Control Application Using Dynamic Safety Zones Based on the ISO/TS 15066:2016
Di Cosmo V
MetadataShow full item record
In this work we propose a safety control approach for industrial applications of collaborative robotics based on the requirements of the latest safety standards. The safety requirements are verified by performing intersection tests between bounding volumes whose dimensions are computed online, based on the speed of the manipulator along its stopping trajectory. This approach aims at tackling the limitations that impair the contribution of the robot to the collaborative task due to the enforcement of excessively conservative safety constraints. It does so neither undermining the robustness of the algorithm nor increasing excessively its complexity. To this end, implementation and computational simplicity have been preferred by (1) evaluating online only the largest contributions to the protective separation distance required by the technical specification, and (2) using a conservative approach for less predictable data. The proposed method has been tested by means of an experiment for collaborative pick-and-place operations.
Showing items related by title, author, creator and subject.
Greco L; Gobbetti M; Auricchio R; Di Mase R; Landolfi F; Paparo F; Di Cagno R; De Angelis M; Rizzello CG; Cassone A; Terrone G; Timpone L; D'aniello M; Maglio M; Troncone R; Auricchio S (2011)Background & Aims Celiac disease (CD) is characterized by an inflammatory response to wheat gluten, rye, and barley proteins. Fermentation of wheat flour with sourdough lactobacilli and fungal proteases decreases the ...
Marengo E; Baldoni M; Baroglio C; Chopra AK; Patti V; Singh MP (ACM, 2011)Commitments provide a flexible means for specifying the business relationships among autonomous and heterogeneous agents, and lead to a natural way of enacting such relationships. However, current formalizations of commitments ...