Sensor Based Collision Avoidance Manipulator

Ng, Jack Kii (2016) Sensor Based Collision Avoidance Manipulator. Project Report. UTeM, Melaka, Malaysia . (Submitted)

Text (24 Pages) Sensor Based Collision Avoidance Manipulator.pdf - Submitted Version Download (332kB)

Abstract

According to the 2013 Social Security Organization (SOCSO) Annual Report[1], from the total number of accident cases that reported in year 2013, there were more than half of the accident was occurring in the workspace. One of the reasons behind the fact is that worker nowadays needs to frequently undergoes human-robot interaction (HRI) in a robot workspace. In industrial environments where humans and robot manipulators co-exist, it is always a risk that humans get injured while operating alongside robot manipulators in its workspace. In fact, this kind of accidents do occur and in some cases, results in fatalities. Reasons include the negligence of the safety procedures from the human worker or any form of carelessness when the human operator is inside the manipulator’s workspace. Industrial robots are rigid, performance-based machines, but can be equipped with sensors and algorithms to accommodate human presence in the work envelop. Hence, safety industrial robot which can perform its primary task, but at the same time take consideration about the worker safety is introduced to compromise and reduce the industrial accident. The objective of this paper is to propose a pre-contact sensor-based collision avoidance manipulator that adjusts its motion when a human presence is detected by using proximity sensors placed at different locations of the manipulator. The system performance is then analyzed in terms of sensor positioning for both simulation and hardware prototype. For the system design process, V-Rep robot simulator software is used. Through the simulation results, a system that covered the interfaces process between sensor and manipulator with collision avoidance function is being done. Ultrasonic sensor which under the category of proximity sensor is used in both platforms for the approaching obstacle detection purpose. While for the system performance test, two different position of sensors are being considered and results are compared between both platforms. The results obtained from the experiments indicate that although there are differences between simulation and hardware prototype, but the overall system performance is well-function by following the process flow chart.

Actions (login required)

View Item