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An Optimal Human-Based Control Approach for Mobile Human-Robot Collaboration

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Human-Friendly Robotics 2022 (HFR 2022)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 26))

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Abstract

In collaborative robotic applications, human and robot have to cooperate in executing a common job. During the collaboration, the operator’s experience in the job is of paramount importance. Furthermore, it is essential to ensure that the two agents are always close enough to perform the assigned task, without jeopardizing the safety of the operator. In this paper, we propose an integrated architecture that allows the human operator to drive the collaboration based on its position. The robot is forced to stay close to the human during the execution of the task, but without colliding. Moreover the architecture is capable of changing online the size of the collaborative area, making it suitable for most of the collaborative jobs. The proposed approach is validated on a UR10e mobile manipulator which has been mounted on a MIR100 collaborative platform.

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Notes

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    https://www.optitrack.com/.

  2. 2.

    https://mathworks.com/products/matlab-coder.html.

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Acknowledgement

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No. 818087 (ROSSINI).

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Authors and Affiliations

  1. Department of Sciences and Methods of Engineering, University of Modena and Reggio Emilia, Reggio Emilia, Italy

    Andrea Pupa, Francesco Breveglieri & Cristian Secchi

Authors
  1. Andrea Pupa
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  2. Francesco Breveglieri
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  3. Cristian Secchi
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Corresponding author

Correspondence to Andrea Pupa .

Editor information

Editors and Affiliations

  1. Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Delft, The Netherlands

    Pablo Borja

  2. Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Delft, The Netherlands

    Cosimo Della Santina

  3. Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Delft, The Netherlands

    Luka Peternel

  4. Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven, The Netherlands

    Elena Torta

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Pupa, A., Breveglieri, F., Secchi, C. (2023). An Optimal Human-Based Control Approach for Mobile Human-Robot Collaboration. In: Borja, P., Della Santina, C., Peternel, L., Torta, E. (eds) Human-Friendly Robotics 2022. HFR 2022. Springer Proceedings in Advanced Robotics, vol 26. Springer, Cham. https://doi.org/10.1007/978-3-031-22731-8_3

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