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.
Author: | Dirk Ebert, Dominik Henrich |
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URN: | urn:nbn:de:hbz:386-kluedo-12386 |
Document Type: | Article |
Language of publication: | English |
Year of Completion: | 2002 |
Year of first Publication: | 2002 |
Publishing Institution: | 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: | Kaiserslautern - Fachbereich Informatik |
DDC-Cassification: | 0 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik |
Collections: | AG RESY |
Licence (German): | Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011 |