A Novel DMPs Based Approach to Comply ISO/TS 15066

Learning by demonstration techniques are becoming popular in human-robot collaboration (HRC) because they allow exploiting the versatility of collaborative robots. In this context, Dynamic Motion Primitives (DMPs) are a standard method for allowing human operators to easily teach tasks to robots. However, DMPs do not guarantee compliance with ISO/TS 15066 safety standards. This work addresses these issues by introducing a control pipeline that adapts DMPs through an optimization problem to ensure compliance with the Speed and Separation Monitoring (SSM) safety mode. The approach has been experimentally validated in a real scenario, where a UR5e robot and a human operator collaborate on a polishing task.