生産現場における人間協調・共存型作業支援パートナロボット-PaDY-

-第13報 ISO/TS 15066に基づいた動作計画法の検討-

抄録

In our laboratory, we have been researching and developing an assembly task partner robot PaDY that delivers parts/tools to a human worker for assembly line. In ISO/TS 15066 on collaborative robots, limits are imposed on the relative velocity of a human worker and the robot. In this paper, we apply this ISO/TS to our PaDY. First, based on the ISO/TS, the maximum relative velocity limit between the human and the robot worker is calculated from the human worker’s body part which may collide with the robot and the mass of the robot. Second, we introduce the motion planning method for PaDY that satisfies the relative velocity limitation using the movement of the robot and the trajectory of the worker measured in advance. Finally, we evaluate the effectiveness of the proposed method using simulation.