Reactive Planning on a Collaborative Robot for Industrial Applications

Gautier Dumonteil, Guido Manfredi, Michel Devy, Ambroise Confetti, Daniel Sidobre

2015

Abstract

A challenge for roboticists consist in promoting collaborative robotics for industrial applications, i.e. allowing robots to be used close to humans, without barriers. Safety becomes the key issue. For manipulation tasks, a part of the problem is solved using new arms like the KUKA LWR, able to physically detect a collision from couple measurements on each joint. Nevertheless it is better to avoid collisions, overall if the obstacle is the arm or the head of an operator. This paper describes how obstacles could be detected and avoided, using a single Kinect sensor for the monitoring of the workspace and the reactive planner developped by the Blind company for the the real-time selection of an avoidance trajectory. Experimental results are provided as a proof that our dynamic obstacle avoidance strategy works properly.

Paper Citation

in Harvard Style

Dumonteil G., Manfredi G., Devy M., Confetti A. and Sidobre D. (2015). Reactive Planning on a Collaborative Robot for Industrial Applications . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-123-6, pages 450-457. DOI: 10.5220/0005575804500457

in Bibtex Style

@conference{icinco15,
author={Gautier Dumonteil and Guido Manfredi and Michel Devy and Ambroise Confetti and Daniel Sidobre},
title={Reactive Planning on a Collaborative Robot for Industrial Applications},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2015},
pages={450-457},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005575804500457},
isbn={978-989-758-123-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Reactive Planning on a Collaborative Robot for Industrial Applications
SN - 978-989-758-123-6
AU - Dumonteil G.
AU - Manfredi G.
AU - Devy M.
AU - Confetti A.
AU - Sidobre D.
PY - 2015
SP - 450
EP - 457
DO - 10.5220/0005575804500457