High-Velocity Walk-Through Programming for Industrial Applications: A Safety-Oriented Approach

Simone di Napoli, Mattia Bertuletti, Mattia Gambazza, Matteo Ragaglia, Cesare Fantuzzi, Federica Ferraguti

2023

Abstract

Traditionally, industrial robots are programmed by highly specialized workers that either directly write code in platform-specific languages, or use dedicated hardware (teach-pendant) to move the robot through the desired via-points. Unsurprisingly, the inherently complex and time-consuming nature of this task is one of the factors that are still preventing industrial manipulators from being massively adopted by companies that require a high degree of flexibility in order to cope with limited production volumes and rapidly changing product requirements. In this context, the introduction of sensor-based walk-through programming approaches represents the ideal solution as far as the need to reduce programming complexity and time is concerned. Nevertheless, one of the typical shortcomings of these solutions consists in limited reachable velocities during the programming phase due to safety constraints. To this regard, this paper proposes a safety architecture for walk-through programming of industrial manipulators specifically designed in order to reach high velocities while guaranteeing the operator’s safety. The proposed solution is validated on an industrial manipulator.

Paper Citation

in Harvard Style

di Napoli S., Bertuletti M., Gambazza M., Ragaglia M., Fantuzzi C. and Ferraguti F. (2023). High-Velocity Walk-Through Programming for Industrial Applications: A Safety-Oriented Approach. In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-670-5, SciTePress, pages 503-510. DOI: 10.5220/0012250900003543

in Bibtex Style

@conference{icinco23,
author={Simone di Napoli and Mattia Bertuletti and Mattia Gambazza and Matteo Ragaglia and Cesare Fantuzzi and Federica Ferraguti},
title={High-Velocity Walk-Through Programming for Industrial Applications: A Safety-Oriented Approach},
booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2023},
pages={503-510},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012250900003543},
isbn={978-989-758-670-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - High-Velocity Walk-Through Programming for Industrial Applications: A Safety-Oriented Approach
SN - 978-989-758-670-5
AU - di Napoli S.
AU - Bertuletti M.
AU - Gambazza M.
AU - Ragaglia M.
AU - Fantuzzi C.
AU - Ferraguti F.
PY - 2023
SP - 503
EP - 510
DO - 10.5220/0012250900003543
PB - SciTePress