Collision Avoidance in Human-Cobot Work Cell Using Proximity Sensors and Modified Bug Algorithm

This paper introduces a real-time collision avoidance algorithm for a collaborative robot in a work cell with a human operator. Collaborative robots (cobots) are becoming increasingly popular in industrial environments because they enable close collaboration between a human and a robot. Unlike traditional robots, cobot installations do not require a safety cage around the robot. This is because the cobot can come to a stop if it collides with a human. Although the cobot can stop, it is not a pleasant or safe working environment for the human to be hit by the cobot possibly multiple times a day. The advantage of the new approach is its algorithmic simplicity and use of inexpensive proximity sensors on the cobot. Results from pick-and-place experiments show significant improvements in reduction of collisions as the algorithm enables the cobot to maneuver around the human operator in the cell.