Article | REF: S7741 V1

Collaborative robotics

Authors: Andrea CHERUBINI, Benjamin NAVARRO, Philippe FRAISSE

Publication date: December 10, 2021

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ABSTRACT

Until recently, in manufacturing plants, the workspaces of humans and robots were strictly separated because of safety and role assignment. Currently, physical human-robot interaction has grown significantly, and has led to the development of so-called collaborative robots, i.e. robots capable of working in close proximity - or even in contact - with human operators. This article deals with collaborative robotics, by presenting a state of the art of the existing technologies, standards, methodologies and tools.

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AUTHORS

  • Andrea CHERUBINI: University Professor - Laboratoire d'informatique, de robotique et de microélectronique de Montpellier LIRMM Université de Montpellier – CNRS, 161 Rue Ada, 34090 Montpellier, France

  • Benjamin NAVARRO: Research engineer - Laboratoire d'informatique, de robotique et de microélectronique de Montpellier LIRMM Université de Montpellier – CNRS, 161 Rue Ada, 34090 Montpellier, France

  • Philippe FRAISSE: University Professor - Laboratoire d'informatique, de robotique et de microélectronique de Montpellier LIRMM Université de Montpellier – CNRS, 161 Rue Ada, 34090 Montpellier, France

 INTRODUCTION

Until now, assembly lines were made up of zones where human operators intervened, and robotized zones where operators could not enter without interrupting the assembly line.

Since around 2010, physical human-robot interaction (pHRI) has been attracting considerable interest from the international research community.

Mastering the physical interactions between a robot and a human operator, and between a robot and its environment, opens the way to a new paradigm for the factory of the future. This new paradigm can be summed up by the introduction of new assembly lines made up of robots and operators sharing the same workspace.

This approach makes these new production areas more flexible and reconfigurable, while minimizing musculoskeletal disorders for operators through a more appropriate distribution of tasks. The aim is to distribute and share assembly work with the robot, which supports and handles heavy loads, leaving the operator to carry out the finer, more complex manipulations.

This article describes these new techniques for achieving safe and effective physical interaction between a robot and a human operator.

First, it presents the state of the art of human-machine cooperation in industry, and ISO standards relating to collaborative robotics. It then focuses on two aspects of human-robot collaboration: non-contact collaboration (for collision avoidance and detection) and physical collaboration (e.g. manual guidance). Finally, it presents some fundamental tools in collaborative robotics, including mobile collaborative robots, compliant actuators and some fundamental software libraries.

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KEYWORDS

industry 4.0   |   Robotics,   |   Factory of the future   |   Human-robot interaction


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