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Flexible sensor concept and an integrated collision sensing for efficient human-robot collaboration using 3D local global sensors

Human-robot collaboration with traditional industrial robots is a cardinal step towards agile manufacturing and re-manufacturing processes. These processes require constant human presence, which results in lower operational efficiency based on current industrial collision avoidance systems. The work...

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Autores principales: Rashid, Aquib, Alnaser, Ibrahim, Bdiwi, Mohamad, Ihlenfeldt, Steffen
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10117896/
https://www.ncbi.nlm.nih.gov/pubmed/37090892
http://dx.doi.org/10.3389/frobt.2023.1028411
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author Rashid, Aquib
Alnaser, Ibrahim
Bdiwi, Mohamad
Ihlenfeldt, Steffen
author_facet Rashid, Aquib
Alnaser, Ibrahim
Bdiwi, Mohamad
Ihlenfeldt, Steffen
author_sort Rashid, Aquib
collection PubMed
description Human-robot collaboration with traditional industrial robots is a cardinal step towards agile manufacturing and re-manufacturing processes. These processes require constant human presence, which results in lower operational efficiency based on current industrial collision avoidance systems. The work proposes a novel local and global sensing framework, which discusses a flexible sensor concept comprising a single 2D or 3D LiDAR while formulating occlusion due to the robot body. Moreover, this work extends the previous local global sensing methodology to incorporate local (co-moving) 3D sensors on the robot body. The local 3D camera faces toward the robot occlusion area, resulted from the robot body in front of a single global 3D LiDAR. Apart from the sensor concept, this work also proposes an efficient method to estimate sensitivity and reactivity of sensing and control sub-systems The proposed methodologies are tested with a heavy-duty industrial robot along with a 3D LiDAR and camera. The integrated local global sensing methods allow high robot speeds resulting in process efficiency while ensuring human safety and sensor flexibility.
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spelling pubmed-101178962023-04-21 Flexible sensor concept and an integrated collision sensing for efficient human-robot collaboration using 3D local global sensors Rashid, Aquib Alnaser, Ibrahim Bdiwi, Mohamad Ihlenfeldt, Steffen Front Robot AI Robotics and AI Human-robot collaboration with traditional industrial robots is a cardinal step towards agile manufacturing and re-manufacturing processes. These processes require constant human presence, which results in lower operational efficiency based on current industrial collision avoidance systems. The work proposes a novel local and global sensing framework, which discusses a flexible sensor concept comprising a single 2D or 3D LiDAR while formulating occlusion due to the robot body. Moreover, this work extends the previous local global sensing methodology to incorporate local (co-moving) 3D sensors on the robot body. The local 3D camera faces toward the robot occlusion area, resulted from the robot body in front of a single global 3D LiDAR. Apart from the sensor concept, this work also proposes an efficient method to estimate sensitivity and reactivity of sensing and control sub-systems The proposed methodologies are tested with a heavy-duty industrial robot along with a 3D LiDAR and camera. The integrated local global sensing methods allow high robot speeds resulting in process efficiency while ensuring human safety and sensor flexibility. Frontiers Media S.A. 2023-04-06 /pmc/articles/PMC10117896/ /pubmed/37090892 http://dx.doi.org/10.3389/frobt.2023.1028411 Text en Copyright © 2023 Rashid, Alnaser, Bdiwi and Ihlenfeldt. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
Rashid, Aquib
Alnaser, Ibrahim
Bdiwi, Mohamad
Ihlenfeldt, Steffen
Flexible sensor concept and an integrated collision sensing for efficient human-robot collaboration using 3D local global sensors
title Flexible sensor concept and an integrated collision sensing for efficient human-robot collaboration using 3D local global sensors
title_full Flexible sensor concept and an integrated collision sensing for efficient human-robot collaboration using 3D local global sensors
title_fullStr Flexible sensor concept and an integrated collision sensing for efficient human-robot collaboration using 3D local global sensors
title_full_unstemmed Flexible sensor concept and an integrated collision sensing for efficient human-robot collaboration using 3D local global sensors
title_short Flexible sensor concept and an integrated collision sensing for efficient human-robot collaboration using 3D local global sensors
title_sort flexible sensor concept and an integrated collision sensing for efficient human-robot collaboration using 3d local global sensors
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10117896/
https://www.ncbi.nlm.nih.gov/pubmed/37090892
http://dx.doi.org/10.3389/frobt.2023.1028411
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