A Method of Human-robot Collaboration for Grinding of Workpieces
文献类型：会议论文
| 作者 | Su,Jianhua1 ; Hong,Qiao1; Xu,Lijin2; Ming,Wang1; Su, Jianhua
|
| 出版日期 | 2015 |
| 会议名称 | 2015 IEEE International Conference on Mechatronics and Automation |
| 会议日期 | 2-5 Aug. 2015 |
| 会议地点 | 北京 |
| 关键词 | collision avoidance grinding human-robot interaction |
| 通讯作者 | Su, Jianhua |
| 英文摘要 | This paper presents a strategy of human-robot collaboration in grinding system. A collision-avoidance region, which ensures an operator should not be collision with a robot arm, is firstly detected by tracking the operator motion. Then, a path planning method, which uses control points of NURBS (Non-Uniform Rational B-Splines) to modify the path of the robot, is presented. Hence, whenever a possible collision with the robot and operator is predicted, the robot trajectory could be changed accordingly. Finally, a human-robot collaboration grinding system is built to enable a robot to perform safe grinding operations with the aid of humans. |
| 会议录 | IEEE
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/12245]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组 |
| 通讯作者 | Su, Jianhua |
| 作者单位 | 1.institute of automation, Chinese Academy of Sciencese 2.Anhui Effort Equipment Co.Ltd |
| 推荐引用方式 GB/T 7714 | Su,Jianhua,Hong,Qiao,Xu,Lijin,et al. A Method of Human-robot Collaboration for Grinding of Workpieces[C]. 见:2015 IEEE International Conference on Mechatronics and Automation. 北京. 2-5 Aug. 2015. |
入库方式： OAI收割
来源：自动化研究所
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