Collaborative robotics is one of the main drivers of the fourth industrial revolution. However, its introduction implies new challenges related to the mechanical risk they may represent and the psychological stress that they can induce on people. In order to reduce these risks, countermeasures like velocity limits and smooth trajectories have been implemented. Nevertheless, from these solutions excessively slow motions which cannot be integrated in fast work cycles may derive. In this letter, we propose a novel trajectory planning methodology which aim is to reduce these risks and minimize the execution time. We rely on available literature to identify a family of psychologically safe paths and apply on it a novel reparametrization algorithm capable of minimizing the execution time while limiting the mechanical risk represented by the robot. A numerical implementation of the method is discussed and experimental results reported as prove of the effectiveness of the idea.

中文翻译：

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在协作工作站中设计快速流畅的轨迹

协作机器人技术是第四次工业革命的主要推动力之一。但是，它的引入意味着与它们可能代表的机械风险以及它们可能对人造成的心理压力有关的新挑战。为了降低这些风险，已经实施了诸如速度限制和平滑轨迹之类的对策。但是，从这些解决方案中可能会得出无法整合到快速工作周期中的过慢运动。在这封信中，我们提出了一种新颖的轨迹规划方法，旨在降低这些风险并最大程度地减少执行时间。我们依靠现有的文献来确定一个心理上安全的途径，并在其上应用一种新颖的重新参数化算法，该算法能够最小化执行时间，同时限制机器人所代表的机械风险。