A method of human-robot collaboration for grinding of workpieces

This paper presents a strategy of human-robot collaboration in grinding system. A collision-avoidance region, which ensures an operator should not be collision with a robot arm, is firstly detected by tracking the operator motion. Then, a path planning method, which uses control points of NURBS (Non-Uniform Rational B-Splines) to modify the path of the robot, is presented. Hence, whenever a possible collision with the robot and operator is predicted, the robot trajectory could be changed accordingly. Finally, a human-robot collaboration grinding system is built to enable a robot to perform safe grinding operations with the aid of humans.