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Safe Human-Robot-Cooperation: Image-based Collision Detection for Industrial Robots

  • This paper analyzes the problem of sensor-based colli-sion detection for an industrial robotic manipulator. A method to perform collision tests based on images taken from several stationary cameras in the work cell is pre-sented. The collision test works entirely based on the im-ages, and does not construct a representation of the Carte-sian space. It is shown how to perform a collision test for all possible robot configurations using only a single set of images taken simultaneously.

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Author:Dirk Ebert, Dominik Henrich
Document Type:Article
Language of publication:English
Year of Completion:2002
Year of Publication:2002
Publishing Institute:Technische Universität Kaiserslautern
Date of the Publication (Server):2002/10/31
Tag:AG-RESY; Kollisionserkennung; Mensch-Roboter-Kooperation; SIMERO
AG-RESY; SIMERO; collision detection; safe human robot cooperation
GND-Keyword:Robotik; Kooperation
Source:"Safe Human-Robot-Cooperation: Image-based collision detection for Industrial Robots" In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, October 2 - 4, 2002
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