PowerMate - A safe and intuitive robot assistant for handling and assembly tasks

被引：0
|
作者：
Schraft, RD [1 ]
Meyer, C [1 ]
Parlitz, C [1 ]
Helms, E [1 ]
机构：
[1] Fraunhofer Inst Mfg Engn & Automat, Dept Robot Syst, D-70569 Stuttgart, Germany
来源：
2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 | 2005年
关键词：
robot assistants; humnn-robot-cooperation; robot safety;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this contribution a robot assistant for handling and assembly tasks is presented. The main emphasis of PowerMate was to create a robot assistant that works together with a human worker that is conform to safety category 3 according to DIN ISO 954 and to use components suitable for industrial use, which leads to certain constrains on the possible control mechanisms. An overview of existing concepts of man-machine-cooperation is given. Different architectures for these kinds of robot assistants are discussed. A user-customizable motion control for PowerMate is presented. A description of the force-movement-calculations, the hardware and software architecture and the safety system of the robot assistant is given.
引用
收藏
页码：4074 / 4079
页数：6
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