TY - GEN
T1 - Introduction of Damping Control for Obstacle Avoidance in Direct-Contact Cobotics Operations
AU - Huart, Alexandre
AU - Yorozu, Ayanori
AU - Takahashi, Masaki
N1 - Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2022
Y1 - 2022
N2 - In this study, obstacle avoidance in the collaborative robotics field, where a human operator moves the robot manually through direct contact, is investigated. If an operator is distracted or is not used to control the robot, an accident can happen during operation, which might harm the operator. For the purpose of assisting the human operator in his/her task, the integration of a damping control is proposed. Damping is a coefficient that influences the oscillations of a system. By modifying the damping of the robot, an artificial stiffness is created. The information is transmitted to the user through his/her haptic return, making it easier for him/her to avoid the obstacles in the workspace. In this study, a damping control is developed and implemented. Then, through experimentation, the efficiency of the haptic sense and the general damping control are demonstrated, and thus, an efficient, comfortable, and safe method is formulated for the operator to avoid obstacles during operations.
AB - In this study, obstacle avoidance in the collaborative robotics field, where a human operator moves the robot manually through direct contact, is investigated. If an operator is distracted or is not used to control the robot, an accident can happen during operation, which might harm the operator. For the purpose of assisting the human operator in his/her task, the integration of a damping control is proposed. Damping is a coefficient that influences the oscillations of a system. By modifying the damping of the robot, an artificial stiffness is created. The information is transmitted to the user through his/her haptic return, making it easier for him/her to avoid the obstacles in the workspace. In this study, a damping control is developed and implemented. Then, through experimentation, the efficiency of the haptic sense and the general damping control are demonstrated, and thus, an efficient, comfortable, and safe method is formulated for the operator to avoid obstacles during operations.
KW - Cobotics
KW - Damping control
KW - Haptic return
KW - Human robot interaction
KW - Obstacle avoidance
UR - http://www.scopus.com/inward/record.url?scp=85128786522&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85128786522&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-95892-3_39
DO - 10.1007/978-3-030-95892-3_39
M3 - Conference contribution
AN - SCOPUS:85128786522
SN - 9783030958916
T3 - Lecture Notes in Networks and Systems
SP - 506
EP - 517
BT - Intelligent Autonomous Systems 16 - Proceedings of the 16th International Conference IAS-16
A2 - Ang Jr, Marcelo H.
A2 - Asama, Hajime
A2 - Lin, Wei
A2 - Foong, Shaohui
PB - Springer Science and Business Media Deutschland GmbH
T2 - 16th International Conference on Intelligent Autonomous Systems, IAS-16 2020
Y2 - 22 June 2021 through 25 June 2021
ER -