Skip to Main content Skip to Navigation
Conference papers

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

Nassim Benhabib 1 Vincent Padois 1 David Daney 1
1 AUCTUS - Augmenting human comfort in the factory using cobots
Inria Bordeaux - Sud-Ouest, Bordeaux INP - Institut Polytechnique de Bordeaux
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.
Document type :
Conference papers
Complete list of metadata

Cited literature [14 references]  Display  Hide  Download

https://hal.inria.fr/hal-02418739
Contributor : Vincent Padois <>
Submitted on : Friday, May 29, 2020 - 9:40:45 AM
Last modification on : Tuesday, February 9, 2021 - 4:14:06 PM

File

ICRA20_0406_FI.pdf
Files produced by the author(s)

Identifiers

Collections

Citation

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⟩

Share

Metrics

Record views

319

Files downloads

930