The current trend in manufacturing is to obtain a flexible work cell in which human and robot can safely interact and collaborate. Virtual Reality (VR) represents an effective tool capable of simulating such complex systems with a high level of immersion. In order to take advantage of VR technologies to study Human-Robot Cooperation (HRC), a digital model of a redundant manipulator (KUKA LBR iiwa) has been developed starting with kinematic modeling and then coupled with the real robot. This approach allows simulating HRC in several scenarios, to reproduce the safe behavior on the real robot, as well as to train operators.
Coupling of a Redundant Manipulator with a Virtual Reality Environment to Enhance Human-robot Cooperation / Gammieri, Luigi; Schumann, Marco; Pelliccia, Luigi; Di Gironimo, Giuseppe; Klimant, Philipp. - 62:(2017), pp. 618-623. (Intervento presentato al convegno 10TH CIRP CONFERENCE ON INTELLIGENT COMPUTATION IN MANUFACTURING ENGINEERING - CIRP ICME '16 tenutosi a Ischia, ITALY nel JUL 20-22, 2016) [10.1016/j.procir.2016.06.056].
Coupling of a Redundant Manipulator with a Virtual Reality Environment to Enhance Human-robot Cooperation
Di Gironimo, Giuseppe;
2017
Abstract
The current trend in manufacturing is to obtain a flexible work cell in which human and robot can safely interact and collaborate. Virtual Reality (VR) represents an effective tool capable of simulating such complex systems with a high level of immersion. In order to take advantage of VR technologies to study Human-Robot Cooperation (HRC), a digital model of a redundant manipulator (KUKA LBR iiwa) has been developed starting with kinematic modeling and then coupled with the real robot. This approach allows simulating HRC in several scenarios, to reproduce the safe behavior on the real robot, as well as to train operators.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
