PowerMate-A Safe and Intuitive Robot Assistant for Handling and Assembly Tasks

Author

Schraft, R.D. ; Meyer, C. ; Parlitz, C. ; Helms, E.

Author_Institution

Fraunhofer Institute for Manufacturing Engineering and Automation Department Robot Systems Nobelstraße 12,70569 Stuttgart, Germany, rds@ipa.fhg.de

fYear

2005

fDate

18-22 April 2005

Firstpage

4074

Lastpage

4079

Abstract

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.

Keywords

human-robot-cooperation; robot assistants; robot safety; Computer architecture; Hardware; Humans; ISO standards; Industrial control; Motion control; Robotic assembly; Safety; Service robots; Software architecture; human-robot-cooperation; robot assistants; robot safety;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

Conference_Location

Barcelona, Spain

Print_ISBN

0-7803-8914-X

Type

conf

DOI

10.1109/ROBOT.2005.1570745

Filename

1570745