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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.

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Author:Dirk Ebert, Dominik Henrich
Document Type:Article
Language of publication:English
Year of Completion:2001
Year of Publication:2001
Publishing Institute:Technische Universität Kaiserslautern
Date of the Publication (Server):2001/06/21
Tag:AG-RESY; SIMERO; human robot cooperation; safe human robot cooperation; sensor fusion
Faculties / Organisational entities:Fachbereich Informatik
DDC-Cassification:0 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik
Collections:AG RESY
Licence (German):Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011