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- Publisher Website: 10.1109/CYBER46603.2019.9066674
- Scopus: eid_2-s2.0-85084305204
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Conference Paper: Event-based planning and control for active collision avoidance in human-robot collaboration
Title | Event-based planning and control for active collision avoidance in human-robot collaboration |
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Authors | |
Issue Date | 2019 |
Publisher | IEEE. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1800486 |
Citation | 2019 IEEE 9th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), Suzhou, China, 29 July-2 August. 2019, p. 1354-1357 How to Cite? |
Abstract | As the industrial manufacturing is going towards flexible and intelligent manufacturing, human-machine collaboration plays important role in achieving higher productivity and efficiency. In human-robot collaborative environments, the space separation between humans and robots is cancelled and it is very important to prevent human-machine collisions. This paper proposes an active collision avoidance control method based on event-based planning and control. Firstly, the autonomous motion of the robot driven by non-time reference is achieved. Then, real-time modification of the autonomous motion based on artificial potential field to avoid the obstacles is presented. Finally, experiment of event based autonomous motion and simulation of collision avoidance control are conducted. |
Persistent Identifier | http://hdl.handle.net/10722/282981 |
ISBN |
DC Field | Value | Language |
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dc.contributor.author | Chen, J | - |
dc.contributor.author | Bi, S | - |
dc.contributor.author | Chen, L | - |
dc.contributor.author | Xi, N | - |
dc.date.accessioned | 2020-06-05T06:23:44Z | - |
dc.date.available | 2020-06-05T06:23:44Z | - |
dc.date.issued | 2019 | - |
dc.identifier.citation | 2019 IEEE 9th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), Suzhou, China, 29 July-2 August. 2019, p. 1354-1357 | - |
dc.identifier.isbn | 978-1-7281-0771-4 | - |
dc.identifier.uri | http://hdl.handle.net/10722/282981 | - |
dc.description.abstract | As the industrial manufacturing is going towards flexible and intelligent manufacturing, human-machine collaboration plays important role in achieving higher productivity and efficiency. In human-robot collaborative environments, the space separation between humans and robots is cancelled and it is very important to prevent human-machine collisions. This paper proposes an active collision avoidance control method based on event-based planning and control. Firstly, the autonomous motion of the robot driven by non-time reference is achieved. Then, real-time modification of the autonomous motion based on artificial potential field to avoid the obstacles is presented. Finally, experiment of event based autonomous motion and simulation of collision avoidance control are conducted. | - |
dc.language | eng | - |
dc.publisher | IEEE. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1800486 | - |
dc.relation.ispartof | IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER) | - |
dc.rights | IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). Copyright © IEEE. | - |
dc.rights | ©2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | - |
dc.title | Event-based planning and control for active collision avoidance in human-robot collaboration | - |
dc.type | Conference_Paper | - |
dc.identifier.email | Xi, N: xining@hku.hk | - |
dc.identifier.authority | Xi, N=rp02044 | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/CYBER46603.2019.9066674 | - |
dc.identifier.scopus | eid_2-s2.0-85084305204 | - |
dc.identifier.hkuros | 310081 | - |
dc.identifier.spage | 1354 | - |
dc.identifier.epage | 1357 | - |
dc.publisher.place | United States | - |