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2017 | OriginalPaper | Chapter

Reliable Workspace Monitoring in Safe Human-Robot Environment

Authors : Amine Abou Moughlbay, Héctor Herrero, Raquel Pacheco, Jose Luis Outón, Damien Sallé

Published in: International Joint Conference SOCO’16-CISIS’16-ICEUTE’16

Publisher: Springer International Publishing

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Abstract

The implementation of a reliable vision system for full perception of the human-robot environment is a key issue for the flexible collaborative production industries, especially for the frequently changing applications. The use of such system facilitates the perception and recognition of the human activity, and consequently highly increases the robustness and reactivity of safety strategies in collaborative tasks. This paper presents an implementation of several techniques for workspace monitoring in collaborative human-robot applications. A reliable perception of the overall environment is performed to generate a consistent point cloud which is used for human detection and tracking. Additionally, safety strategies on the robotic system (reduced velocity, emergency stop, ...) are activated when the human-robot distance approaches predefined security thresholds.

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Footnotes
1
An implementation of the presented techniques in the scope of LIAA project is available on https://​youtu.​be/​AtZGeX2t51k.
 
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Metadata
Title
Reliable Workspace Monitoring in Safe Human-Robot Environment
Authors
Amine Abou Moughlbay
Héctor Herrero
Raquel Pacheco
Jose Luis Outón
Damien Sallé
Copyright Year
2017
Book
International Joint Conference SOCO’16-CISIS’16-ICEUTE’16

Print ISBN: 978-3-319-47363-5

Electronic ISBN: 978-3-319-47364-2

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-47364-2_25

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