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Erschienen in:
Comparative Analysis of Quasi-Differential Approaches in Inverse Kinematics Kapitel lesen Erstes Kapitel lesen

2018 | OriginalPaper | Buchkapitel

Collision Avoidance System for Collaborative Robotics

verfasst von : Stefano Mauro, Leonardo Sabatino Scimmi, Stefano Pastorelli

Erschienen in: Advances in Service and Industrial Robotics

Verlag: Springer International Publishing

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Abstract

In this paper a real-time collision avoidance algorithm, based on the method of artificial potentials an intended for collaborative robotics applications was studied. Within this work, the movements of a person are detected and acquired by a vision system and a dummy, developed to interact with a robot in a simulated workspace, replicates these actions. Ellipsoids are then defined to entirely include several parts of the dummy and the end-effector of the robot. The minimum distance between the ellipsoids of the dummy and the one of the end-effector is the input of the collision avoidance algorithm. The results of tests are presented to show the effectiveness of the algorithm. Finally, the influence of the velocity of the obstacle on the capability of the algorithm of ensuring safe collision avoidance is analyzed.

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Vorheriges Kapitel Automated, Depth Sensor Based Object Detection and Path Planning for Robot-Aided 3D Scanning
Nächstes Kapitel Design and Construction of a Demonstrative HeritageBot Platform
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Metadaten
Titel
Collision Avoidance System for Collaborative Robotics
verfasst von
Stefano Mauro
Leonardo Sabatino Scimmi
Stefano Pastorelli
Copyright-Jahr
2018
Buch
Advances in Service and Industrial Robotics

Print ISBN: 978-3-319-61275-1

Electronic ISBN: 978-3-319-61276-8

Copyright-Jahr: 2018

DOI
https://doi.org/10.1007/978-3-319-61276-8_38

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