Shared Workspace Analysis (PSA)

Project in a nutshell:

  • Consortium: AUCTUS@Inria, PSA Automobiles
  • Funding: PSA Automobiles, ANRT (CIFRE)
  • Duration: 2020–2023
  • People involved: Nicolas TORRES ALBERTO, Vincent PADOIS, David DANEY

 

Even though industrial robotic manipulators can increase production and efficiency greatly, self-proclaimed collaborative robotic systems are still too difficult to integrate into processes in which they may interact with humans for safety reasons. This means that they’re rather incompatible with the desired ideals of flexibility and productivity in the Industry 4.0 horizon.

The main problematic about integration lies in finding solutions encompassing design, supervision and control of the robotic system. These solutions need to take into account security norms in effect while finely optimizing the control algorithm for the shared workspace. To avoid sacrificing security while accelerating the certification process, this challenge is bypassed frequently by proposing a strict physical separation between the robot and the human, leading to implementations that fail to exploit the dexterity, expertise and adaptability of humans and the endurance, repeatibility and strength of robots.

To obtain a safe and effective shared workspace between humans and robots, safety needs to be taken into account both at the design phase and at control algorithm. While concentrating in the control law, collaborative robot solutions ignore its capacity of detecting human presence and interaction such as interrupters that completely turn off the system.

The objective of this project is to work on these principles to avoid the classic restrained static security zones, synthesizing a dynamic representation of the shared workspace to take advantage of state of the art control laws, allowing a fluid collaboration between human-robot. This dynamic synthesis requires knowledge of the robots state (geometric, cinematic and cognitive, such as fatigue, expertise and conscience of the situation), its tasks, capacities, state of humans that surround it and their tasks. Furthermore, it needs to achieve a formal and provable online algorithm that correctly estimates the state of the human and guarantee a safe shared workspace tackling ambitious scientific questions poorly addressed in literature.

 

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