Скачать или смотреть Human-robot physical interaction and collaboration using an industrial robot

This video shows an end-user approach to collision detection and reaction with an industrial KUKA KR5 manipulator having closed control architecture and no additional sensors. The detection and reaction schemes have minimal requirements, using only measurements of motor currents and joint positions. On-line filtering of the motor currents allows distinguishing between accidental collisions and intended human-robot contacts. When the robot switches to collaboration mode, its compliant-like reactions are implemented using only the outer joint velocity reference to the robot manufacturer's controller.

Five experiments illustrate the performance of the proposed methods.
Experiment 1: Collision detection by high-pass filtering of motor currents.
Experiment 2: Detection and classification of contact vs. accidental by high-pass and low-pass filtering of motor currents; switch to collaboration mode with manual-driven robot reconfiguration.
Experiment 3: Collaboration mode with human pushing/pulling the robot by small forces.
Experiment 4: Collaboration mode with compliant-like robot reaction.
Experiment 5: Collision reaction using a Kinect (track human body parts and identify contact location).

Reference: M. Geravand, F. Flacco, A. De Luca, "Human-robot physical interaction and collaboration using an industrial robot with a closed control architecture," 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, D, pp. 4000-4007, May 2013, http://dx.doi.org/10.1109/ICRA.2013.6...