R. Schraft, C. Meyer, Christopher Parlitz, Evert Helms
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引用次数: 87
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.
在这个贡献机器人助理处理和装配任务提出。PowerMate的主要重点是创建一个与人类工人一起工作的机器人助手，符合DIN ISO 954的安全类别3，并使用适合工业用途的组件，这导致对可能的控制机制的某些限制。概述了现有的人机协作概念。讨论了这类机器人助手的不同架构。提出了一种用户可定制的PowerMate运动控制系统。介绍了机器人助手的力-运动计算、硬件和软件结构以及安全系统。
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