Safety control in robotic manipulator visual servoing system

Industrial tasks where cooperation between human operators and robots is required in order to execute a task is still a challenging research area. In most cases the industrial robots are isolated in areas where the human operator is not allowed to enter. This is to avoid the possible collision and this type of configuration does not allow the development of more flexible industrial tasks achieved by the cooperation between humans and robots. Such a collaboration would have several advantages since complementary features of both entities could be employed in the task execution. Industrial robots can perform repetitive tasks (which can be tedious and exhausting for a human operator) while human operator can execute specialized tasks which demand intelligence and dexterity. To ensure a good collaboration between robots and humans safety control has to be included in the control algorithms. In this paper an overview of the image based control techniques and how including safety in the scheme will improve the performance of task execution.

Jaar van publicatie:2019

Trefwoorden:P1 Proceeding

BOF-keylabel:ja

Authors from:Higher Education

Toegankelijkheid:Closed