Modified Bug Algorithm with Proximity Sensors to Reduce Human-Cobot Collisions

This paper presents an adaptation of the mobile robot bug algorithm to control a cobot to reduce collisions with a human worker in the same work cell. Collaborative robots (cobots) are popular in industry because they enable close collaboration between a human and a robot. Although the cobot can stop when a collision happens, it is not a pleasant or safe working environment for the human to be hit by the cobot possibly multiple times a day. The proposed approach uses inexpensive proximity sensors on the cobot and a simple algorithm. An adjustable yaw angle is introduced to the algorithm to further reduce collisions. Results from pick-and-place experiments with UR 10 cobot show significant reduction of collisions.