A Method of Human-robot Collaboration for Grinding of Workpieces
Su,Jianhua1; Hong,Qiao1; Xu,Lijin2; Ming,Wang1; Su, Jianhua
2015
会议名称2015 IEEE International Conference on Mechatronics and Automation
会议录名称IEEE
会议日期2-5 Aug. 2015
会议地点北京
摘要This paper presents a strategy of human-robot collaboration in grinding system. A collision-avoidance region, which ensures an operator should not be collision with a robot arm, is firstly detected by tracking the operator motion. Then, a path planning method, which uses control points of NURBS (Non-Uniform Rational B-Splines) to modify the path of the robot, is presented. Hence, whenever a possible collision with the robot and operator is predicted, the robot trajectory could be changed accordingly. Finally, a human-robot collaboration grinding system is built to enable a robot to perform safe grinding operations with the aid of humans.
关键词Collision Avoidance Grinding Human-robot Interaction
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/12245
专题复杂系统管理与控制国家重点实验室_机器人理论与应用
通讯作者Su, Jianhua
作者单位1.institute of automation, Chinese Academy of Sciencese
2.Anhui Effort Equipment Co.Ltd
推荐引用方式
GB/T 7714
Su,Jianhua,Hong,Qiao,Xu,Lijin,et al. A Method of Human-robot Collaboration for Grinding of Workpieces[C],2015.
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