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Towards the Robotic Co-Worker

  • Sami Haddadin
  • Michael Suppa
  • Stefan Fuchs
  • Tim Bodenmüller
  • Alin Albu-Schäffer
  • Gerd Hirzinger
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 70)

Abstract

Recently, robots have gained capabilities in both sensing and actuation, which enable operation in the proximity of humans. Even direct physical interaction has become possible without suffering the decrease in speed and payload. The DLR Lightweight Robot III (LWR-III), whose technology is currently being transferred to the robot manufacturer KUKA Roboter GmbH, is such a device capable of realizing various features crucial for direct interaction with humans. Impedance control and collision detection with adequate reaction are key components for enabling “soft and safe” robotics. The implementation of a sensor based robotic co-worker that brings robots closer to humans in industrial settings and achieve close cooperation is an important goal in robotics. Despite being a common vision in robotics it has not become reality yet, as there are various open questions still to be answered. In this paper a sound concept and a prototype implementation of a co-worker scenario are developed in order to demonstrate that stateof- the-art technology is now mature enough to reach this aspiring aim. We support our ideas by addressing the industrially relevant bin-picking problem with the LWR-III, which is equipped with a Time-of-Flight camera for object recognition and the DLR 3D-Modeller for generating accurate environment models. The paper describes the sophisticated control schemes of the robot in combination with robust computer vision algorithms, which lead to a reliable solution for the addressed problem. Strategies are devised for safe interaction with the human during task execution, state depending robot behavior, and the appropriate mechanisms, to realize robustness in partially unstructured environments.

Keywords

Collision Avoidance Collision Detection Task Execution Iterative Close Point Impedance Control 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Sami Haddadin
    • 1
  • Michael Suppa
    • 1
  • Stefan Fuchs
    • 1
  • Tim Bodenmüller
    • 1
  • Alin Albu-Schäffer
    • 1
  • Gerd Hirzinger
    • 1
  1. 1.Institute of Robotics and MechatronicsDLR e.V. - German Aerospace CenterWesslingGermany

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