Collaborative tasks between robotic manipulator and human
Autor(a) principal: | |
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Data de Publicação: | 2021 |
Tipo de documento: | Dissertação |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/10773/33920 |
Resumo: | Human Robot Collaboration has become a prominent subject in industry settings over the years. The insurgence of collaborative robots and the advantages they bring to assembly lines have caused the need to exploit their hardware and create new systems that can enable the safe execution of collaborative tasks between humans and robots. Such advantages include their reduced size and cost, their lightweight construction, their force/precision assistance hardware and their safety requirements, that must be met in order to be considered collaborative. In this Dissertation, we propose a set of tools and techniques that enable the execution of collaborative tasks between a human and a robotic manipulator. Such techniques include dynamic payload compensation at the end effector of the robot, identification of moving obstacles in the environment, and the creation of high level task plans. This techniques can then be joined together to create various collaborative tasks. Examples of such, both implemented and tested, are the transfer of objects between human and robot, precise hand guiding of the robot at the end effector, hand guided manipulation of dynamically coupled objects, and the execution of an industrial task with collision avoidance. All of this tasks were grouped in a global state machine that allows the user to seamlessly interact with the robot, change the task in execution while receiving constant feedback. These tasks were implemented and tested in a real setting with an Universal Robots UR10e. The setup consisted on a shared workspace where the human and the robot could physically interact and perform the proposed tasks. |
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Collaborative tasks between robotic manipulator and humanHuman robot collaborationCollaborative robotsHand guidingTool transferCollision avoidanceTask level architectureReal time motion controlHuman Robot Collaboration has become a prominent subject in industry settings over the years. The insurgence of collaborative robots and the advantages they bring to assembly lines have caused the need to exploit their hardware and create new systems that can enable the safe execution of collaborative tasks between humans and robots. Such advantages include their reduced size and cost, their lightweight construction, their force/precision assistance hardware and their safety requirements, that must be met in order to be considered collaborative. In this Dissertation, we propose a set of tools and techniques that enable the execution of collaborative tasks between a human and a robotic manipulator. Such techniques include dynamic payload compensation at the end effector of the robot, identification of moving obstacles in the environment, and the creation of high level task plans. This techniques can then be joined together to create various collaborative tasks. Examples of such, both implemented and tested, are the transfer of objects between human and robot, precise hand guiding of the robot at the end effector, hand guided manipulation of dynamically coupled objects, and the execution of an industrial task with collision avoidance. All of this tasks were grouped in a global state machine that allows the user to seamlessly interact with the robot, change the task in execution while receiving constant feedback. These tasks were implemented and tested in a real setting with an Universal Robots UR10e. The setup consisted on a shared workspace where the human and the robot could physically interact and perform the proposed tasks.A colaboração humano robô tem-se tornado um tema proeminente em ambientes industriais ao longo dos anos. O aparecimento de robôs colaborativos e as vantagens que eles trazem para as linhas de montagem causam a necessidade de explorar seu hardware e criar novos sistemas que permitam a execução segura de tarefas colaborativas entre humanos e robôs. Essas vantagens incluem as suas reduzidas dimensões e custos, os seus materiais de construção mais leves, a existência hardware de assistência de força/precisão e o cumprimento de requisitos de segurança, que os permitem ser considerados como colaborativos. Nesta Dissertação, propomos um conjunto de ferramentas e técnicas que possibilitam a execução de tarefas colaborativas entre um humano e um braço robótico. Essas técnicas incluem compensação de peso acoplado à garra do robô, identificação de obstáculos dinâmicos no ambiente e a criação de novas tarefas de forma simplificada e abstrata. Essas técnicas podem então ser unidas para criar várias tarefas colaborativas. Exemplos, implementados e testados, são a transferência de objetos entre humano e robô, manipulação da posição do robô através de interação direta com a sua garra, manipulação de objetos acoplados dinamicamente e a execução de uma tarefa industrial com prevenção de colisões. Todas essas tarefas foram agrupadas numa máquina de estados que permite ao utilizador interagir dinamicamente com o robô, mudar a tarefa em execução, enquanto recebe feedback constante. Estas tarefas foram implementadas e testadas num ambiente real com um Universal Robots UR10e. O cenário consiste num espaço de trabalho partilhado onde o humano e o robô podem interagir fisicamente e realizar as tarefas propostas.2022-05-19T08:03:10Z2021-12-10T00:00:00Z2021-12-10info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisapplication/pdfhttp://hdl.handle.net/10773/33920engAlves, Fábio Miguel Correiainfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-02-22T12:05:15Zoai:ria.ua.pt:10773/33920Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T03:05:16.191248Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Collaborative tasks between robotic manipulator and human |
title |
Collaborative tasks between robotic manipulator and human |
spellingShingle |
Collaborative tasks between robotic manipulator and human Alves, Fábio Miguel Correia Human robot collaboration Collaborative robots Hand guiding Tool transfer Collision avoidance Task level architecture Real time motion control |
title_short |
Collaborative tasks between robotic manipulator and human |
title_full |
Collaborative tasks between robotic manipulator and human |
title_fullStr |
Collaborative tasks between robotic manipulator and human |
title_full_unstemmed |
Collaborative tasks between robotic manipulator and human |
title_sort |
Collaborative tasks between robotic manipulator and human |
author |
Alves, Fábio Miguel Correia |
author_facet |
Alves, Fábio Miguel Correia |
author_role |
author |
dc.contributor.author.fl_str_mv |
Alves, Fábio Miguel Correia |
dc.subject.por.fl_str_mv |
Human robot collaboration Collaborative robots Hand guiding Tool transfer Collision avoidance Task level architecture Real time motion control |
topic |
Human robot collaboration Collaborative robots Hand guiding Tool transfer Collision avoidance Task level architecture Real time motion control |
description |
Human Robot Collaboration has become a prominent subject in industry settings over the years. The insurgence of collaborative robots and the advantages they bring to assembly lines have caused the need to exploit their hardware and create new systems that can enable the safe execution of collaborative tasks between humans and robots. Such advantages include their reduced size and cost, their lightweight construction, their force/precision assistance hardware and their safety requirements, that must be met in order to be considered collaborative. In this Dissertation, we propose a set of tools and techniques that enable the execution of collaborative tasks between a human and a robotic manipulator. Such techniques include dynamic payload compensation at the end effector of the robot, identification of moving obstacles in the environment, and the creation of high level task plans. This techniques can then be joined together to create various collaborative tasks. Examples of such, both implemented and tested, are the transfer of objects between human and robot, precise hand guiding of the robot at the end effector, hand guided manipulation of dynamically coupled objects, and the execution of an industrial task with collision avoidance. All of this tasks were grouped in a global state machine that allows the user to seamlessly interact with the robot, change the task in execution while receiving constant feedback. These tasks were implemented and tested in a real setting with an Universal Robots UR10e. The setup consisted on a shared workspace where the human and the robot could physically interact and perform the proposed tasks. |
publishDate |
2021 |
dc.date.none.fl_str_mv |
2021-12-10T00:00:00Z 2021-12-10 2022-05-19T08:03:10Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/masterThesis |
format |
masterThesis |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/10773/33920 |
url |
http://hdl.handle.net/10773/33920 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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1799137707791745024 |