A Fuzzy Inference Approach to Control Robot Speed in Human-robot Shared Workspaces

Angelo Campomaggiore, Marco Costanzo, Gaetano Lettera, Ciro Natale

2019

Abstract

Nowadays, human-robot collaboration (HRC) is an important topic in the industrial sector. According to the current regulations, the robot no longer needs to be isolated in a work cell, but a collaborative workspace in which human operators and robots coexist can be acceptable. Human-robot interaction (HRI) is made possible by proper design of the robot and by using advanced sensors with high accuracy, which are adopted to monitor collaborative operations to ensure the human safety. Goal of this article is to implement a fuzzy inference system, based on the ISO/TS 15066, to correctly compute the minimum protective separation distance and adjust the robot speed by considering different possible situations, with the aim to avoid any collisions between operators and robots trying to minimize cycle time as well.

Paper Citation

in Harvard Style

Campomaggiore A., Costanzo M., Lettera G. and Natale C. (2019). A Fuzzy Inference Approach to Control Robot Speed in Human-robot Shared Workspaces.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 78-87. DOI: 10.5220/0007838700780087

in Bibtex Style

@conference{icinco19,
author={Angelo Campomaggiore and Marco Costanzo and Gaetano Lettera and Ciro Natale},
title={A Fuzzy Inference Approach to Control Robot Speed in Human-robot Shared Workspaces},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={78-87},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007838700780087},
isbn={978-989-758-380-3},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A Fuzzy Inference Approach to Control Robot Speed in Human-robot Shared Workspaces
SN - 978-989-758-380-3
AU - Campomaggiore A.
AU - Costanzo M.
AU - Lettera G.
AU - Natale C.
PY - 2019
SP - 78
EP - 87
DO - 10.5220/0007838700780087