Informatik-Kolloquien
326. Informatik-Kolloquium
Öffentliche Verteidigung im Rahmen des Promotionsverfahrens
Herr Aquib Rashid, M. Sc.
TU Chemnitz
Fakultät für Informatik
Professur Technische Informatik
"Towards Safe, Efficient and Flexible Human Robot Collaboration with Traditional Industrial Robots using Local and Global Sensing"
Donnerstag, 06.10.2022, 13:00 Uhr, per Videokonferenzsystem
Abstract:
Human robot collaboration is need of the hour as a cost effective solution for agile assembly and disassembly tasks in various industries. Traditional industrial robots (TIR), with large range and higher payload capabilities better complement human worker. However, their high inherent weight and high speeds make them dangeous in the collision event. This requires contactless collision detection and avoidance strategies. Optical sensor based depth sensing system exist but trigger robot-stop on human entrance. However, for human robot collaborative processes with constant human presence, such sensing strategies result in reduced process efficiency.
This work aims to setup not only safe but efficient collaboraiton with a human operator. The framework provides methodology of setting up of the robot cell using flexible sensor concepts and efficient multi-sensor calibration with robot. This ensures ease in the setup of multisensor system in industrial robot cells, while saving more than 50% of data collection time compared to individual dual system calibration. The work proposes an integrated vision and control system, which efficiently determines the minimum distance to possible human operator. The method for collision sensitivity as well as controller reactivity has been proposed and validated. Collision sensing is performed using local to the robot body- and global to the robot cell- depth measuremnets. Collision avoidance selects one of the corresponding system configurations based on human localization. This enables safe acceleration of the robot compared to the state of technology, and enables 11% lesser process time compared to state of technology.
