Year of publication
- 2002 (1) (remove)
- English (1) (remove)
- Safe Human-Robot-Cooperation: Image-based Collision Detection for Industrial Robots (2002)
- 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.