A Method of Human-robot Collaboration for Grinding of Workpieces

CASIA OpenIR > 多模态人工智能系统全国重点实验室 > 机器人理论与应用

	A Method of Human-robot Collaboration for Grinding of Workpieces
	Su,Jianhua1 ; Hong,Qiao1 ; Xu,Lijin 2; Ming,Wang 1; 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	多模态人工智能系统全国重点实验室_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
第一作者单位	中国科学院自动化研究所
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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文件名称/大小	文献类型	版本类型	开放类型	使用许可
A Method of Human-ro（939KB）	会议论文		开放获取	CC BY-NC-SA	浏览