Zone-based robot control for safe and efficient interaction between human and industrial robots

Human robot shared workspace is usually divided into different zones, e.g. safe, warning, danger zones etc. In general, this kind of division could ensure the human safety during interaction with the industrial robots. However, the productivity, the efficiency and the diversity of the shared tasks have been overtaken. This work has proposed zone-based robot control based on 3D- advanced selection matrices. In every zone, every robot subspace could be vision-, force-, position or hybrid-controlled depending on the required tasks and the safety requirements. Using the proposed system, the industrial robots can perform various shared tasks with the human, including different control algorithms and safety procedures. The proposed control structure has been tested on different HRI scenarios.