Abstract
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.
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Open Access funding enabled and organized by Projekt DEAL. The research and development project “KoMPI” was funded by the German Federal Ministry of Education and Research (BMBF) within the Framework Concept “Research for Tomorrow’s Production” (fund number 02P15A060) and managed by the Project Management Agency Forschungszentrum Karlsruhe, Production and Manufacturing Technologies Division (PTKA-PFT).
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Paul Glogowski derived the models, performed the calculations, designed and performed the experiments, analysed the data and wrote the manuscript. Alex Böhmer aided in analysing and interpreting the results and worked on the manuscript. Alfred Hypki and Bernd Kuhlenkötter discussed the results, commented on the manuscript, provided critical feedback and helped shape the research, analysis and manuscript.
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Glogowski, P., Böhmer, A., Hypki, A. et al. Robot Speed Adaption in Multiple Trajectory Planning and Integration in a Simulation Tool for Human-Robot Interaction. J Intell Robot Syst 102, 25 (2021). https://doi.org/10.1007/s10846-020-01309-7
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DOI: https://doi.org/10.1007/s10846-020-01309-7