Safe Human-Robot-Cooperation:Problem Analysis,System Concept and Fast Sensor Fusion

  • We present a system concept allowing humans to work safely in the same environment as a robot manipulator. Several cameras survey the common workspace. A look-up-table-based fusion algorithm is used to back-project directly from the image spaces of the cameras to the manipulator?s con-figuration space. In the look-up-tables both, the camera calibration and the robot geometry are implicitly encoded. For experiments, a conven-tional 6 axis industrial manipulator is used. The work space is surveyed by four grayscale cameras. Due to the limits of present robot controllers, the computationally expensive parts of the system are executed on a server PC that communicates with the robot controller via Ethernet.

Export metadata

  • Export Bibtex
  • Export RIS

Additional Services

Share in Twitter Search Google Scholar
Metadaten
Author:Dirk Ebert, Dominik Henrich
URN (permanent link):urn:nbn:de:hbz:386-kluedo-11582
Document Type:Article
Language of publication:English
Year of Completion:2001
Year of Publication:2001
Publishing Institute:Technische Universität Kaiserslautern
Tag:AG-RESY ; SIMERO ; human robot cooperation ; safe human robot cooperation ; sensor fusion
Faculties / Organisational entities:Fachbereich Informatik
DDC-Cassification:004 Datenverarbeitung; Informatik
Collections:AG RESY

$Rev: 12793 $