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PowerMate - a safe and intuitive robot assistant for handling and assembly tasks

: Schraft, R.D.; Meyer, C.; Parlitz, C.; Helms, E.


IEEE Robotics and Automation Society:
IEEE International Conference on Robotics and Automation 2005 : ICRA 2005, Barcelona, April 18-22, 2005. Proceedings. Robots get Closer to Humans. DVD conference and video proceedings
Piscataway, NJ: IEEE, 2005
ISBN: 0-7803-8915-8
International Conference on Robotics and Automation (ICRA) <2005, Barcelona>
Conference Paper
Fraunhofer IPA ()
robot assistant; human-robot; man-machine system; robot safety; PowerMate; assembly; Roboter

In this contribution a robot assistant for handling and assembly tasks is presented. The main emphasis of PowerMate was to create a robot assistant that works together with a human worker that is conform to safety category 3 according to DIN ISO 954 and to use components suitable for industrial use, which leads to certain constraints on the possible control mechanisms. An overview of existing concepts of man-machine-cooperation is given. Different architectures for these kinds of robot assistants are discussed. A user-customizable motion control for PowerMate is presented. A description of the force-movement-calculations, the hardware and software architecture and the safety system of the robot assistant is given.