Title :
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
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;
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
DOI :
10.1109/ROBOT.2005.1570745
