Smart sensing and adaptive reasoning for enabling industrial robots with interactive human-robot capabilities in dynamic environments - a case study
Zabalza, Jaime and Fei, Zixiang and Wong, Cuebong and Yan, Yijun and Mineo, Carmelo and Yang, Erfu and Rodden, Tony and Mehnen, Jorn and Pham, Quang Cuong and Ren, Jinchang (2019) Smart sensing and adaptive reasoning for enabling industrial robots with interactive human-robot capabilities in dynamic environments - a case study. Sensors, 19 (6). 1354. ISSN 1424-8220 (https://doi.org/10.3390/s19061354)
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Abstract
Traditional industry is seeing an increasing demand for more autonomous and flexible manufacturing in unstructured settings, a shift away from the fixed, isolated workspaces where robots perform predefined actions repetitively. This work presents a case study in which a robotic manipulator, namely a KUKA KR90 R3100, is provided with smart sensing capabilities such as vision and adaptive reasoning for real-time collision avoidance and online path planning in dynamically-changing environments. A machine vision module based on low-cost cameras and color detection in the hue, saturation, value (HSV) space is developed to make the robot aware of its changing environment. Therefore, this vision allows the detection and localization of a randomly moving obstacle. Path correction to avoid collision avoidance for such obstacles with robotic manipulator is achieved by exploiting an adaptive path planning module along with a dedicated robot control module, where the three modules run simultaneously. These sensing/smart capabilities allow the smooth interactions between the robot and its dynamic environment, where the robot needs to react to dynamic changes through autonomous thinking and reasoning with the reaction times below the average human reaction time. The experimental results demonstrate that effective human-robot and robot-robot interactions can be realized through the innovative integration of emerging sensing techniques, efficient planning algorithms and systematic designs.
ORCID iDs
Zabalza, Jaime ORCID: https://orcid.org/0000-0002-0634-1725, Fei, Zixiang, Wong, Cuebong ORCID: https://orcid.org/0000-0002-6541-6125, Yan, Yijun ORCID: https://orcid.org/0000-0003-0224-0078, Mineo, Carmelo ORCID: https://orcid.org/0000-0002-5086-366X, Yang, Erfu ORCID: https://orcid.org/0000-0003-1813-5950, Rodden, Tony, Mehnen, Jorn ORCID: https://orcid.org/0000-0001-6625-436X, Pham, Quang Cuong and Ren, Jinchang ORCID: https://orcid.org/0000-0001-6116-3194;-
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Item type: Article ID code: 67234 Dates: DateEvent18 March 2019Published8 March 2019AcceptedSubjects: Technology > Electrical engineering. Electronics Nuclear engineering Department: Faculty of Engineering > Electronic and Electrical Engineering
Faculty of Engineering > Design, Manufacture and Engineering ManagementDepositing user: Pure Administrator Date deposited: 11 Mar 2019 11:38 Last modified: 02 Oct 2024 00:32 Related URLs: URI: https://strathprints.strath.ac.uk/id/eprint/67234