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Article: A real-time motion planning scheme for collaborative robots using HRI-based cost function

TitleA real-time motion planning scheme for collaborative robots using HRI-based cost function
Authors
KeywordsCollaborative robot
Motion planning
Human-robot interaction
Issue Date2021
Citation
International Journal of Mechatronics and Automation, 2021, v. 8, n. 1, p. 42-52 How to Cite?
AbstractIn this paper, we propose a novel scheme for real-time motion planning of a collaborative robot that assists its fellow human worker in performing assembly tasks by delivering parts and tools to the worker. In the proposed scheme, the delivery position of the parts and tools is determined first, based on a cost function relating to the safety, visibility, and arm comfort terms of the worker by solving the non-convex optimisation problem in real-time using a random sampling-based algorithm in the vicinity of the worker's current position. Then, model predictive control (MPC)-based trajectory planner directly generates a collision-free robot trajectory from the current robot configuration to the delivery configuration under velocity and acceleration constraints of the robot. The proposed motion planning scheme is implemented in the actual collaborative robot system and the effectiveness of the proposed scheme is illustrated experimentally.
Persistent Identifierhttp://hdl.handle.net/10722/303026
ISSN
2023 SCImago Journal Rankings: 0.138

 

DC FieldValueLanguage
dc.contributor.authorIqbal, Khawaja Fahad-
dc.contributor.authorKanazawa, Akira-
dc.contributor.authorOttaviani, Silvia Romana-
dc.contributor.authorKinugawa, Jun-
dc.contributor.authorKosuge, Kazuhiro-
dc.date.accessioned2021-09-07T08:43:03Z-
dc.date.available2021-09-07T08:43:03Z-
dc.date.issued2021-
dc.identifier.citationInternational Journal of Mechatronics and Automation, 2021, v. 8, n. 1, p. 42-52-
dc.identifier.issn2045-1059-
dc.identifier.urihttp://hdl.handle.net/10722/303026-
dc.description.abstractIn this paper, we propose a novel scheme for real-time motion planning of a collaborative robot that assists its fellow human worker in performing assembly tasks by delivering parts and tools to the worker. In the proposed scheme, the delivery position of the parts and tools is determined first, based on a cost function relating to the safety, visibility, and arm comfort terms of the worker by solving the non-convex optimisation problem in real-time using a random sampling-based algorithm in the vicinity of the worker's current position. Then, model predictive control (MPC)-based trajectory planner directly generates a collision-free robot trajectory from the current robot configuration to the delivery configuration under velocity and acceleration constraints of the robot. The proposed motion planning scheme is implemented in the actual collaborative robot system and the effectiveness of the proposed scheme is illustrated experimentally.-
dc.languageeng-
dc.relation.ispartofInternational Journal of Mechatronics and Automation-
dc.rightsThis work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.-
dc.subjectCollaborative robot-
dc.subjectMotion planning-
dc.subjectHuman-robot interaction-
dc.titleA real-time motion planning scheme for collaborative robots using HRI-based cost function-
dc.typeArticle-
dc.description.naturepublished_or_final_version-
dc.identifier.doi10.1504/IJMA.2021.113727-
dc.identifier.scopuseid_2-s2.0-85103139405-
dc.identifier.volume8-
dc.identifier.issue1-
dc.identifier.spage42-
dc.identifier.epage52-
dc.identifier.eissn2045-1067-

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