Event-based planning and control for active collision avoidance in human-robot collaboration

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.