A method of human-robot collaboration for grinding of workpieces

Jianhua Su; Hong Qiao; Lijin Xu; Ming Wang

doi:10.1109/ICMA.2015.7237649

A method of human-robot collaboration for grinding of workpieces

Jianhua Su
, Hong Qiao
, Lijin Xu
, Ming Wang

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

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.

Original language	English
Title of host publication	2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1156-1161
Number of pages	6
ISBN (Electronic)	9781479970964
DOIs	https://doi.org/10.1109/ICMA.2015.7237649
State	Published - 2 Sep 2015
Externally published	Yes
Event	12th IEEE International Conference on Mechatronics and Automation, ICMA 2015 - Beijing, China Duration: 2 Aug 2015 → 5 Aug 2015

Publication series

Name	2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015

Conference

Conference	12th IEEE International Conference on Mechatronics and Automation, ICMA 2015
Country/Territory	China
City	Beijing
Period	2/08/15 → 5/08/15

Keywords

Human-robot collaboration
Robot grinding

Access to Document

10.1109/ICMA.2015.7237649

Cite this

Su, J., Qiao, H., Xu, L., & Wang, M. (2015). A method of human-robot collaboration for grinding of workpieces. In 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015 (pp. 1156-1161). Article 7237649 (2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2015.7237649

@inproceedings{963fa86aa47d4c3fb1dd721cdfd8206e,

title = "A method of human-robot collaboration for grinding of workpieces",

abstract = "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.",

keywords = "Human-robot collaboration, Robot grinding",

author = "Jianhua Su and Hong Qiao and Lijin Xu and Ming Wang",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 12th IEEE International Conference on Mechatronics and Automation, ICMA 2015 ; Conference date: 02-08-2015 Through 05-08-2015",

year = "2015",

month = sep,

day = "2",

doi = "10.1109/ICMA.2015.7237649",

language = "英语",

series = "2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015",

}

Su, J, Qiao, H, Xu, L & Wang, M 2015, A method of human-robot collaboration for grinding of workpieces. in 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015., 7237649, 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015, Institute of Electrical and Electronics Engineers Inc., pp. 1156-1161, 12th IEEE International Conference on Mechatronics and Automation, ICMA 2015, Beijing, China, 2/08/15. https://doi.org/10.1109/ICMA.2015.7237649

A method of human-robot collaboration for grinding of workpieces. / Su, Jianhua; Qiao, Hong; Xu, Lijin et al.
2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1156-1161 7237649 (2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Qiao, Hong

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AU - Wang, Ming

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N2 - 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.

AB - 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.

KW - Human-robot collaboration

KW - Robot grinding

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DO - 10.1109/ICMA.2015.7237649

M3 - 会议稿件

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BT - 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015

PB - Institute of Electrical and Electronics Engineers Inc.

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Y2 - 2 August 2015 through 5 August 2015

ER -

A method of human-robot collaboration for grinding of workpieces

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