Vision‐based control architecture for human–robot hand‐over applications

Human–robot collaboration will be an essential part of the production processes in the factories of tomorrow. In this paper, a human–robot hand‐over control strategy is presented. Human and robot can be both giver and receiver. A path‐planning algorithm drives the robotic manipulator towards the han...

Full description

Saved in:
Bibliographic Details
Published in:Asian journal of control 2021-01, Vol.23 (1), p.105-117
Main Authors: Melchiorre, Matteo, Scimmi, Leonardo Sabatino, Mauro, Stefano, Pastorelli, Stefano Paolo
Format: Article
Language:English
Subjects:
Algorithms
collaborative robotics
dynamic target
End effectors
human–robot hand‐over
Industrial plants
motion control
motion tracking
Occlusion
Robot arms
Robot control
Robots
trajectory planning
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Human–robot collaboration will be an essential part of the production processes in the factories of tomorrow. In this paper, a human–robot hand‐over control strategy is presented. Human and robot can be both giver and receiver. A path‐planning algorithm drives the robotic manipulator towards the hand of the human and permits to adapt the pose of the tool center point of the robot to the pose of the hand of the human worker. The movements of the operator are acquired with a multi 3D‐sensors setup so to avoid any possible occlusion related to the presence of the robot or other dynamic obstacles. Estimation of the predicted position of the hand is performed to reduce the waiting time of the operator during the hand‐over task. The hardware setup is described, and the results of experimental tests, conducted to verify the effectiveness of the control strategy, are presented and discussed.
ISSN:1561-8625
1934-6093
DOI:10.1002/asjc.2480