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Published March 26, 2020 | Version preprint
Book chapter Open

Design of Timeline-Based Planning Systems for Safe Human-Robot Collaboration

  • 1. CNR-ISTC
  • 2. Uniroma TRE
  • 3. Cesta

Description

During the last decade, industrial collaborative robots have entered assembly cells supporting human workers in repetitive and physical demanding operations. Such human-robot collaboration (HRC) scenarios entail many open issues. The deployment of highly flexible and adaptive plan-based controllers is capable of preserving productivity while enforcing human safety is then a crucial requirement. The deployment of plan-based solutions entails knowledge engineers and roboticists interactions in order to design well-suited models of robotic cells considering both operational and safety requirements. So, the ability of supporting knowledge engineering for integrating high level and low level control (also from non-specialist users) can facilitate deployment of effective and safe solutions in different industrial settings. In this chapter, we will provide an overview of some recent results concerning the development of a task planning and execution technology and its integration with a state of the art Knowledge Engineering environment to deploy safe and effective solutions in realistic manufacturing HRC scenarios. We will briefly present and discuss a HRC use case to demonstrate the effectiveness of such integration discussing its advantages.

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Funding

SHAREWORK – Safe and effective HumAn-Robot coopEration toWards a better cOmpetiveness on cuRrent automation lacK manufacturing processes. 820807
European Commission