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Integration of human factors with energy optimization during trajectory planning of human-robot co-lifting and manipulation task
Maniar, Prasham
Maniar, Prasham
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2019-07
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Electronic dissertation
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Electronic dissertations
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Abstract
This study presents the integration of human physiological parameter and robot energy in the trajectory
planning to maintain safety and efficiency in human-robot cooperation (HRC). The focus
application is a co-lifting and handling of an object using a cooperation of an articulated universal
robot (UR5) and human. In the study, actual robot data (joint positions, joint torques, and endeffector
forces, etc.) are collected from the robot's internal sensors during HRC through socket
communication and python programs. The surface electromyographic (sEMG) signals are collected
from the human's upper arms. We verify the change in robot torque with respect to the
change in the human muscle activity and propose an optimization cost function that uses the theoretical
joint torques for a trajectory and torque due to force interaction. The output of the optimization
routine gives a trajectory that is energy efficient as well as demands lower human effort
to perform the co-manipulation task.
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Thesis (M.S.)-- Wichita State University, College of Engineering, Dept. of Mechanical Engineering
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Wichita State University
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Copyright 2019 by Prasham Maniar
All Rights Reserved