Dokument-ID Dokumenttyp Verfasser/Autoren Herausgeber Haupttitel Abstract Auflage Verlagsort Verlag Erscheinungsjahr Seitenzahl Schriftenreihe Titel Schriftenreihe Bandzahl ISBN Quelle der Hochschulschrift Konferenzname Bemerkung Quelle:Titel Quelle:Jahrgang Quelle:Heftnummer Quelle:Erste Seite Quelle:Letzte Seite URN DOI Zugriffsart Link Abteilungen OPUS4-7327 Teil eines Buches Kallweit, Stephan, kallweit@fh-aachen.de; Gottschalk, Michael, ; Walenta, Robert, ROS based safety concept for collaborative robots in industrial applications The production and assembly of customized products increases the demand for flexible automation systems. One approach is to remove the safety fences that separate human and industrial robot to combine their skills. This collaboration possesses a certain risk for the human co-worker, leading to numerous safety concepts to protect him. The human needs to be monitored and tracked by a safety system using different sensors. The proposed system consists of a RGBD camera for surveillance of the common working area, an array of optical distance sensors to compensate shadowing effects of the RGBD camera and a laser range finder to detect the co-worker when approaching the work cell. The software for collision detection, path planning, robot control and predicting the behaviour of the co-worker is based on the Robot Operating System (ROS). A first prototype of the work cell shows that with advanced algorithms from the field of mobile robotics a very flexible safety concept can be realized: the robot not simply stops its movement when detecting a collision, but plans and executes an alternative path around the obstacle. Cham Springer 2016 8 Advances in robot design and intelligent control : proceedings of the 24th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD). (Advances in intelligent systems and computing ; 371) 978-3-319-21289-0 (Print) ; 978-3-319-21290-6 (E-Book) 27 35 10.1007/978-3-319-21290-6_3 campus http://dx.doi.org/10.1007/978-3-319-21290-6_3 Fachbereich Maschinenbau und Mechatronik OPUS4-8217 Konferenzveröffentlichung Walenta, Robert, ; Schellekens, Twan, ; Ferrein, Alexander, ferrein@fh-aachen.de; Schiffer, Stefan, s.schiffer@fh-aachen.de A decentralised system approach for controlling AGVs with ROS IEEE 2017 5 AFRICON, Proceedings 978-1-5386-2775-4 AFRICON <2017, 18-20 Sept., Cape Town, South Africa> 1436 1441 10.1109/AFRCON.2017.8095693 Fachbereich Elektrotechnik und Informationstechnik