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Communication Dans Un Congrès Année : 2020

Securing Industrial Operators with Collaborative Robots: Simulation and Experimental Validation for a Carpentry task

Résumé

In this work, a robotic assistance strategy is developed to improve the safety in an artisanal task that involves a strong interaction between a machine-tool and an operator. Wood milling is chosen as a pilot task due to its importance in carpentry and its accidentogenic aspect. A physical model of the tooling process including a human is proposed and a simulator is thereafter developed to better understand situations that are dangerous for the craftsman. This simulator is validated with experiments on three subjects using an harmless mock-up. This validation shows the pertinence of the proposed control approach for the collaborative robot used to increase the safety of the task.
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Dates et versions

hal-02418739 , version 1 (28-05-2020)
hal-02418739 , version 2 (29-05-2020)

Identifiants

Citer

Nassim Benhabib, Vincent Padois, David Daney. Securing Industrial Operators with Collaborative Robots: Simulation and Experimental Validation for a Carpentry task. ICRA 2020 - IEEE International Conference on Robotics and Automation, May 2020, Paris, France. ⟨10.1109/ICRA40945.2020.9197161⟩. ⟨hal-02418739v2⟩
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