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Mohammad Safeea
Supervisor:
Dr. Pedro Neto
Dr. Richard Bearee 1
The 245th anniversary of
FCTUC
Mohammad Safeea
University of Coimbra
Safe collaborative robot manipulators
2 Main research interest
Collaborative Robotics
Mohammad Safeea
University of Coimbra Mohammad Safeea
Safe collaborative robot manipulators3
Safe collaborative robots, what does it mean?
University of Coimbra Mohammad Safeea
Safe collaborative robot manipulators4
1. Collaborative robot: The robot shall collaborate with the
human, work with proximity from the human, interact
physically with the humans.
2. Safe robot: it means that robot shall be safe to the human
during the human-robot interaction.
University of Coimbra Mohammad Safeea
Safe collaborative robot manipulators5
Main research topics:
Collision avoidance
Precise hand-guiding
Collaboration
Safety
University of Coimbra Mohammad Safeea
Safe collaborative robot manipulators6
Collision avoidance
University of Coimbra Mohammad Safeea
Robots working in dangerous
environments
Human Robot Collaboration Robots and coworkers are working together
Robots operating
in remote locations.
Three examples
Morphin map
implemented on
Curiosity mars rover.
Collision avoidance in Robotics
Importance of collision avoidance
7
1
23
University of Coimbra Mohammad Safeea
Collision avoidance for manipulators
Scientific terms
8
1. Give the ability to perceive
human co-worker, integrating
sensors into a suit that the
human will wear it.
2. Make industrial robots on the
work floor smarter and safer to
humans, the idea is to endow the
robot with advanced motor-skills,
giving them the ability to perform
natural reflexes, with smooth
motions.
In scientific terms,
collision avoidance:
University of Coimbra
Attraction and repulsion forces
Attraction forces Repulsion forces
9 Main concept of control strategy
Attraction/repulsion forces
Mohammad Safeea
University of Coimbra
• For calculating the repulsion forces, minimum distance shall be calculated.
• For fast minimum distance calculation the robot and the coworker are
represented by capsules.
Collision avoidance for collaborative robotics
Coworker and robot representation
10
Mohammad Safeea
University of Coimbra
Sensing of coworker’s configuration and position
IMUs distribution on the body of the coworker
11
The human will be represented
by five capsules, five IMUS will
be used, and one laser scanner
will be used.
Mohammad Safeea
University of Coimbra
Sensing of coworker’s configuration and position
Sensors to be utilized
12
The human will be represented
by capsules, the Position and
Configuration of the human will
be captured by sensors.
- The configuration of the
human body will be captured
by IMUs
- The position of the human
body will be captured by SIK
laser sensors, and UWB indoor
positioning sensors.
Mohammad Safeea
University of Coimbra
Embedding the collision avoidance in a state machine
Prove of concept, robotic cell simulation
We are implementing the collision avoidance algorithm in a state machine.
13
Mohammad Safeea
University of Coimbra
14 Simulation results
Video demonstrator
Mohammad Safeea
University of Coimbra
Collision avoidance for collaborative robotics
Video demonstrator
15
Mohammad Safeea
University of Coimbra
Collision avoidance for collaborative robotics
Video demonstrator
16
Mohammad Safeea
University of Coimbra
Collision avoidance, case study
Automobile industry
17
Internal side of a car door.
Slots in the internal side of a car door.
Parts to be inserted in the slots.
Case study, how could we use the collision avoidance on
the factory floor.
Mohammad Safeea
University of Coimbra
Collision avoidance for collaborative robotics
Case study
18
Case study, how could we use the collision avoidance on
the factory floor.
Assembly order.
Mohammad Safeea
University of Coimbra
Collision avoidance for collaborative robotics
Case study
19
The Robotic cell utilized.
Mohammad Safeea
University of Coimbra
Video demonstrator
20 Collision avoidance in automobile industry
Mohammad Safeea
University of Coimbra
Some thing to keep in mind
• In the previous tests, the robot is not
preprogrammed to do the reflexes.
• Smart algorithm is used to generate motion
on line.
• As such several obstacle (coworkers) can be
near the robot.
• They can approach the robot from different
direction, and different velocities, the robot
shall avoid collision with them smoothly.
21
Mohammad Safeea
University of Coimbra
HRC- Human robot collaboration
Precise hand guiding functionality, for Human Robot Collaboration HRC
22
Precise hand-guiding
Mohammad Safeea
University of Coimbra
HRC- Human robot collaboration
Precise hand guiding functionality, for Human Robot Collaboration HRC
23
Why hand guiding:
Confusing??????
Smart-pad is usually used
Keep track of the base frame
orientation
Mohammad Safeea
University of Coimbra
HRC- Human robot collaboration
Precise hand guiding functionality, for Human Robot Collaboration HRC
24
The off the shelf KUKA hand guiding
functionality is hard to utilize, and it operates
in joint space, we propose precise hand
guiding controller at end effector level, the
controller is inspired by the properties of
passive mechanical systems. Subjected to
coulomb and viscous friction.
Mohammad Safeea
University of Coimbra
25 HRC- Human robot collaboration
Precise hand guiding functionality, for Human Robot Collaboration HRC
Three main motion groups +1 are
defined
Three main motion groups
Mohammad Safeea
University of Coimbra
Precise hand guiding, motion groups
26 HRC- Human robot collaboration
Video demonstrator
Mohammad Safeea
University of Coimbra
+1 for redundant manipulators,
motion of redundant axes
27 HRC- Human robot collaboration
Video demonstrator
Mohammad Safeea
University of Coimbra
Precession of Cartesian linear motion.
28 HRC- Human robot collaboration
Precise hand guiding functionality
Testing
A force is applied in the y
direction, the robot moves
accordingly in the Y direction,
While the coordinates in the X,
Z directions are almost fixed.
From collected data it is found
that the precession in the X
direction is 0.091 mm,
while the average deviation in
the Z direction is 0.092 mm.
Mohammad Safeea
University of Coimbra
Positioning
precision
+/- 0.14 mm
29 Precession hand guiding
Video demonstrator
Mohammad Safeea
University of Coimbra
Comparison between KUKA
off the shelf hand-guiding
and the precise hand
guiding, experimental setup.
30 HRC- Human robot collaboration
Precise hand guiding functionality
Testing
Mohammad Safeea
University of Coimbra
Comparison between KUKA off the shelf hand-guiding and
precise hand guiding, Orientation:
31 HRC- Human robot collaboration
Precise hand guiding functionality
Testing
KUKA off the shelf hand-guiding Precise hand-guiding
Mohammad Safeea
University of Coimbra
32
University of Coimbra
33
University of Coimbra
Linked in: Mohammad Safeea
Email: ms@uc.pt
Thanks
34 Contact me
Mohammad Safeea

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Safe collabroative robot manipulators, precise hand guiding, collision avoidance

  • 1. Mohammad Safeea Supervisor: Dr. Pedro Neto Dr. Richard Bearee 1 The 245th anniversary of FCTUC Mohammad Safeea
  • 2. University of Coimbra Safe collaborative robot manipulators 2 Main research interest Collaborative Robotics Mohammad Safeea
  • 3. University of Coimbra Mohammad Safeea Safe collaborative robot manipulators3 Safe collaborative robots, what does it mean?
  • 4. University of Coimbra Mohammad Safeea Safe collaborative robot manipulators4 1. Collaborative robot: The robot shall collaborate with the human, work with proximity from the human, interact physically with the humans. 2. Safe robot: it means that robot shall be safe to the human during the human-robot interaction.
  • 5. University of Coimbra Mohammad Safeea Safe collaborative robot manipulators5 Main research topics: Collision avoidance Precise hand-guiding Collaboration Safety
  • 6. University of Coimbra Mohammad Safeea Safe collaborative robot manipulators6 Collision avoidance
  • 7. University of Coimbra Mohammad Safeea Robots working in dangerous environments Human Robot Collaboration Robots and coworkers are working together Robots operating in remote locations. Three examples Morphin map implemented on Curiosity mars rover. Collision avoidance in Robotics Importance of collision avoidance 7 1 23
  • 8. University of Coimbra Mohammad Safeea Collision avoidance for manipulators Scientific terms 8 1. Give the ability to perceive human co-worker, integrating sensors into a suit that the human will wear it. 2. Make industrial robots on the work floor smarter and safer to humans, the idea is to endow the robot with advanced motor-skills, giving them the ability to perform natural reflexes, with smooth motions. In scientific terms, collision avoidance:
  • 9. University of Coimbra Attraction and repulsion forces Attraction forces Repulsion forces 9 Main concept of control strategy Attraction/repulsion forces Mohammad Safeea
  • 10. University of Coimbra • For calculating the repulsion forces, minimum distance shall be calculated. • For fast minimum distance calculation the robot and the coworker are represented by capsules. Collision avoidance for collaborative robotics Coworker and robot representation 10 Mohammad Safeea
  • 11. University of Coimbra Sensing of coworker’s configuration and position IMUs distribution on the body of the coworker 11 The human will be represented by five capsules, five IMUS will be used, and one laser scanner will be used. Mohammad Safeea
  • 12. University of Coimbra Sensing of coworker’s configuration and position Sensors to be utilized 12 The human will be represented by capsules, the Position and Configuration of the human will be captured by sensors. - The configuration of the human body will be captured by IMUs - The position of the human body will be captured by SIK laser sensors, and UWB indoor positioning sensors. Mohammad Safeea
  • 13. University of Coimbra Embedding the collision avoidance in a state machine Prove of concept, robotic cell simulation We are implementing the collision avoidance algorithm in a state machine. 13 Mohammad Safeea
  • 14. University of Coimbra 14 Simulation results Video demonstrator Mohammad Safeea
  • 15. University of Coimbra Collision avoidance for collaborative robotics Video demonstrator 15 Mohammad Safeea
  • 16. University of Coimbra Collision avoidance for collaborative robotics Video demonstrator 16 Mohammad Safeea
  • 17. University of Coimbra Collision avoidance, case study Automobile industry 17 Internal side of a car door. Slots in the internal side of a car door. Parts to be inserted in the slots. Case study, how could we use the collision avoidance on the factory floor. Mohammad Safeea
  • 18. University of Coimbra Collision avoidance for collaborative robotics Case study 18 Case study, how could we use the collision avoidance on the factory floor. Assembly order. Mohammad Safeea
  • 19. University of Coimbra Collision avoidance for collaborative robotics Case study 19 The Robotic cell utilized. Mohammad Safeea
  • 20. University of Coimbra Video demonstrator 20 Collision avoidance in automobile industry Mohammad Safeea
  • 21. University of Coimbra Some thing to keep in mind • In the previous tests, the robot is not preprogrammed to do the reflexes. • Smart algorithm is used to generate motion on line. • As such several obstacle (coworkers) can be near the robot. • They can approach the robot from different direction, and different velocities, the robot shall avoid collision with them smoothly. 21 Mohammad Safeea
  • 22. University of Coimbra HRC- Human robot collaboration Precise hand guiding functionality, for Human Robot Collaboration HRC 22 Precise hand-guiding Mohammad Safeea
  • 23. University of Coimbra HRC- Human robot collaboration Precise hand guiding functionality, for Human Robot Collaboration HRC 23 Why hand guiding: Confusing?????? Smart-pad is usually used Keep track of the base frame orientation Mohammad Safeea
  • 24. University of Coimbra HRC- Human robot collaboration Precise hand guiding functionality, for Human Robot Collaboration HRC 24 The off the shelf KUKA hand guiding functionality is hard to utilize, and it operates in joint space, we propose precise hand guiding controller at end effector level, the controller is inspired by the properties of passive mechanical systems. Subjected to coulomb and viscous friction. Mohammad Safeea
  • 25. University of Coimbra 25 HRC- Human robot collaboration Precise hand guiding functionality, for Human Robot Collaboration HRC Three main motion groups +1 are defined Three main motion groups Mohammad Safeea
  • 26. University of Coimbra Precise hand guiding, motion groups 26 HRC- Human robot collaboration Video demonstrator Mohammad Safeea
  • 27. University of Coimbra +1 for redundant manipulators, motion of redundant axes 27 HRC- Human robot collaboration Video demonstrator Mohammad Safeea
  • 28. University of Coimbra Precession of Cartesian linear motion. 28 HRC- Human robot collaboration Precise hand guiding functionality Testing A force is applied in the y direction, the robot moves accordingly in the Y direction, While the coordinates in the X, Z directions are almost fixed. From collected data it is found that the precession in the X direction is 0.091 mm, while the average deviation in the Z direction is 0.092 mm. Mohammad Safeea
  • 29. University of Coimbra Positioning precision +/- 0.14 mm 29 Precession hand guiding Video demonstrator Mohammad Safeea
  • 30. University of Coimbra Comparison between KUKA off the shelf hand-guiding and the precise hand guiding, experimental setup. 30 HRC- Human robot collaboration Precise hand guiding functionality Testing Mohammad Safeea
  • 31. University of Coimbra Comparison between KUKA off the shelf hand-guiding and precise hand guiding, Orientation: 31 HRC- Human robot collaboration Precise hand guiding functionality Testing KUKA off the shelf hand-guiding Precise hand-guiding Mohammad Safeea
  • 34. University of Coimbra Linked in: Mohammad Safeea Email: ms@uc.pt Thanks 34 Contact me Mohammad Safeea

Editor's Notes

  1. The theme, title, of my research is: safe collaborative robot manipulators.
  2. It underlines two sub topics, collaboration and safty.
  3. Industrial robotic manipulators are innately dangerous, while their links posses lots of inertia, and they move with high velocities, any collision between the coworker and the unconscious manipulator could be fatal to the human.
  4. On the issue of safety, I will speak about the collision avoidance. On the issue of collaboration I will speak about the precision hand guiding. The code and methods developed are being integrated into the KUKA Sunrise Toolbox, you can download it from my profile at github.
  5. Industrial robotic manipulators are innately dangerous, while their links posses lots of inertia, and they move with high velocities, any collision between the coworker and the unconscious manipulator could be fatal to the human.
  6. Three examples about the importance of collision avoidance algorithm
  7. Control concept, the robot is moving in field of forces, attraction forces that attract the robot toward the goal, repulsion forces that repel the robot away from obstacles.
  8. For calculating the repulsion forces, we need to calculate the minimum distance between robot and obstacle. For fast calculating the minimum distance between the robot and obstacles, they are represented by capsules.
  9. Now we are representing the coworker with five capsules, four for the arms, and one along the torso.
  10. To capture the position and configuration of the coworker, a sick laser sensor, imus and magnetic sensors are being utilized.
  11. Then the collision avoidance controller is embedded into a state machine for performing complicated tasks.