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Newton’s first law is usually considered to be a statement about reference frames. It provides a method for identifying a special type of reference frame: the inertial reference frame. In principle, we can make the net force on a body zero. If its velocity relative to a given frame is constant, then that frame is said to be inertial. So, by definition, an inertial reference frame is a reference frame where Newton's first law holds valid. Newton's first law applies to objects with...
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Role of Reference Frames for a Safe Human-Robot Interaction.

Alberto Borboni1, Roberto Pagani1, Samuele Sandrini2

  • 1Mechanical and Industrial Engineering Department, Università degli Studi di Brescia, Via Branze 38, 25123 Brescia, Italy.

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Summary

This study introduces a new method for ensuring safety in human-robot collaboration (cobot) by using multiple reference frames for real-time interaction assessment. This approach enables safe cobot operation without speed limitations, enhancing collaborative robotics.

Keywords:
human–robot interactionreference frame mappingsafety

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Area of Science:

  • Robotics
  • Human-Robot Interaction
  • Safety Engineering

Background:

  • Safety is paramount in collaborative robot (cobot) applications.
  • Existing methods often face limitations, particularly regarding velocity constraints.

Purpose of the Study:

  • To develop a general procedure for guaranteeing safe workstations in collaborative robotic tasks.
  • To enable real-time assessment and regulation of cobot parameters without velocity limitations.

Main Methods:

  • Utilizing multiple cooperating reference frame agents (egocentric, allocentric, route-centric).
  • Implementing a generalization and synthesis of these agents for interaction assessment.
  • Calculating quantitative safety indices for real-time control.

Main Results:

  • Demonstrated feasibility and effectiveness using a seven-DOF anthropomorphic arm and psychometric tests.
  • Achieved real-time safety assessment without imposing velocity limitations on cobots.
  • Results align with existing literature while introducing novel work cell arrangement features.

Conclusions:

  • The proposed methodology provides a safe and comfortable measure for human-robot relations.
  • Further research integrating psychology, social sciences, and learning technologies is needed for real-world applications.