Securing industrial operators with collaborative robots: simulation and experimental validation for a carpentry task

Abstract : 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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https://hal.inria.fr/hal-02418739
Contributor : Nassim Benhabib <>
Submitted on : Thursday, December 19, 2019 - 9:58:03 AM
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  • HAL Id : hal-02418739, version 1

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Nassim Benhabib, Vincent Padois, David Daney. Securing industrial operators with collaborative robots: simulation and experimental validation for a carpentry task. 2019. ⟨hal-02418739⟩

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