Safety in human-robot collaborative manufacturing environments: Metrics and control

By A. Zanchettin, N. Ceriani, P. Rocco, Hao Ding, Björn Matthias. IEEE Transactions on Automation Science and Engineering, 2016

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Human-Robot Collaboration in Manufacturing Applications: A Review (2019, methodology): “[62] 2016 ABB FRIDA (YuMi) Vision Speed and separation monitoring Assembly Safety: Collision avoidance strategy: Decrease the speed of the cobot Speed reduction method based on minimum distance; distance threshold adaptable to the programmed speed; continuous speed scaling N/A”
A Survey of Methods for Safe Human-Robot Interaction (2017, methodology): “To address this, Zanchettin et al. (2015) developed a velocity scaling approach that takes advantage of redundant degrees of freedom, 274 Safety Through Control with the goal of maintaining safety while retaining productivity.”
Working Together: A Review on Safe Human-Robot Collaboration in Industrial Environments (2017, methodology): “Different robot’s behaviours in experimental set-up for multiple HRC using RGB-D devices, [105].”