Robot speed adaption in multiple trajectory planning and integration in a simulation tool for human-robot interaction
- Speed and separation monitoring (SSM) is one of the four permissible collaborative operations in human-robot interaction (HRI). At all times, it must be ensured that the speed-dependent separation distance is maintained. To guarantee this, the robot speed or the robot path can be adapted. In this paper, the robot speed adaption for multiple trajectories is implemented in an HRI simulation tool and tested in an application example. Thereby, numerous complex process situations, such as a temporary robot stop or obstacles in the collaborative workspace, can be simulated. The simulation tool enables a comprehensive simulation, analysis and optimisation of human and robot motions within the HRI, already in the planning phase.
| Author: | Paul Jakob GlogowskiORCiDGND, Alexander BöhmerGND, Alfred HypkiGND, Bernd KuhlenkötterORCiDGND |
|---|---|
| URN: | urn:nbn:de:hbz:294-97004 |
| DOI: | https://doi.org/10.1007/s10846-020-01309-7 |
| Parent Title (English): | Journal of intelligent & robotic systems |
| Publisher: | Springer Science + Business Media B.V. |
| Place of publication: | Dordrecht |
| Document Type: | Article |
| Language: | English |
| Date of Publication (online): | 2023/02/28 |
| Date of first Publication: | 2021/04/30 |
| Publishing Institution: | Ruhr-Universität Bochum, Universitätsbibliothek |
| Tag: | Human-robot interaction; Multiple trajectory planning; Robot speed adaption; Speed and separation monitoring |
| Volume: | 102 |
| Issue: | Article 25 |
| First Page: | 25-1 |
| Last Page: | 25-20 |
| Note: | Dieser Beitrag ist auf Grund des DEAL-Springer-Vertrages frei zugänglich. |
| Institutes/Facilities: | Lehrstuhl für Produktionssysteme |
| Dewey Decimal Classification: | Technik, Medizin, angewandte Wissenschaften / Ingenieurwissenschaften, Maschinenbau |
| open_access (DINI-Set): | open_access |
| faculties: | Fakultät für Maschinenbau |
| Licence (English): |  Creative Commons - CC BY 4.0 - Attribution 4.0 International |
