Developing a Safety Motion Planning Model for General Users Based on Motion Planning with Speed Variation in Human-Industrial Robot Collaboration (HIRC)

Emerging cyber-physical and artificial intelligence technology empowers booming applications within human-industrial robot collaboration (HIRC) across different disciplines. Industrial robots provide opportunities for practitioners to actualize 3D data/programs rapidly. However, as the arm-type industrial robots move into the dynamic work environment outside industrial settings, the unpredictable and random behaviour of inexperienced general users will challenge the current HIRC safety features and regulations in close interaction. This research aims to develop a Safety Motion Planning Model based on the foundation of robotic kinematics in the shared-working space, to release the potential of HIRC by improving user experience. This model will work to provide an intuitive approach for inexperienced users to have an adaptive motion planning solution for their task, to eliminate safety risks hence allowing close interaction and collaboration. The model can potentially illustrate a wide range of safety metrics of the specific HIRC process and may contribute to a tool/interface by combining it with smart manufacturing technologies.