Toward safer Human-Robot collaboration in MR environment

This paper presents a Mixed Reality (MR) approach to extend the Safe Move tool from ABB Robot Studio (RS) to view and intuitively edit the safety configuration, allowing the import of existing configurations and the export of modified ones to RS for certification by the expert. The added virtual sensor can detect the user's position allowing collision detection and avoidance. The robot's motion is not only adjusted to the safety zone in which the robot is but also to its relative position to the operator by monitoring in real-time positions of the operator's hands as well as head and triggering appropriate action in the robot.