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robotic arm safety with proximity sensor

asked 2023-06-27 04:24:59 -0500

omeranar1

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updated 2023-06-27 04:41:12 -0500

Hello

I am working on a robotic arm.
The issue I'm working on right now is security.
My aim is to slow down the speed of the robotic arm if a human enters the environment while the robotic arm is moving.
The closer the human gets to the robotic arm, the more I want to slow down the robotic arm.

I used setMaxVelocityScalingFactor and setMaxAccelerationScalingFactor for this, but these can be used before execution.
The speed of the robotic arm should slow down during execution.
that is, I want to reduce the speed of the robotic arm when a human enters the environment while the robotic arm is moving.

Thank you so much

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answered 2023-06-27 09:00:19 -0500

Mike Scheutzow
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I am not aware of any standard ros package that has the behavior you ask for. I think you need to write custom code to implement this. If you are using ros_control, I'd investigate adding this new behavior to the FollowJointTrajectory Action Server.

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The scaled_joint_trajectory_controller in UniversalRobots/Universal_Robots_ROS_scaled_controllers implements a version of the JointTrajectoryController which can dynamically update the 'rate' at which it executes trajectories. That could be something the OP could use.

Provided the "robotic arm" mentioned is ros_control compatible.

But: it's certainly not safety rated, so depending on the requirements would not be sufficient for a truly safe environment. Especially with humans close by.

gvdhoorn ( 2023-06-27 09:05:16 -0500 )edit

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Asked: 2023-06-27 04:24:59 -0500

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Last updated: Jun 27 '23

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robotic arm safety with proximity sensor