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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.

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Metadaten
Author:Stephan Kallweit, Michael Gottschalk, Robert Walenta
DOI:https://doi.org/10.1007/978-3-319-21290-6_3
ISBN:978-3-319-21289-0 (Print) ; 978-3-319-21290-6 (E-Book)
Parent Title (English):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)
Publisher:Springer
Place of publication:Cham
Document Type:Part of a Book
Language:English
Year of Completion:2016
Creating Corporation:International Conference on Robotics in Alpe-Adria-Danube Region <24, 2015, Bucharest>
Date of the Publication (Server):2015/09/22
Tag:Collaborative robot; Human-Robot interaction; Path planning; Safety concept; Workspace monitoring
First Page:27
Last Page:35
Link:http://dx.doi.org/10.1007/978-3-319-21290-6_3
Zugriffsart:campus
Institutes:FH Aachen / Fachbereich Maschinenbau und Mechatronik
FH Aachen / MASKOR Institut für Mobile Autonome Systeme und Kognitive Robotik
collections:Verlag / Springer