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2018 | OriginalPaper | Chapter

Collision Avoidance System for Collaborative Robotics

Authors : Stefano Mauro, Leonardo Sabatino Scimmi, Stefano Pastorelli

Published in: Advances in Service and Industrial Robotics

Publisher: 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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Title: Collision Avoidance System for Collaborative Robotics
Authors: Stefano Mauro
Leonardo Sabatino Scimmi
Stefano Pastorelli
Publisher: Springer International Publishing
Book: Advances in Service and Industrial Robotics
Print ISBN: 978-3-319-61275-1

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

Copyright Year: 2018
DOI: https://doi.org/10.1007/978-3-319-61276-8_38