TY  - CHAP
U1  - Konferenzveröffentlichung
A1  - Himmelsbach, Urban
A1  - Wendt, Thomas
A1  - Hangst, Nikolai
A1  - Gawron, Philipp
T1  - Single Pixel Time-of-Flight Sensors for Object Detection and Self-Detection in Three-Sectional Single-Arm Robot Manipulators
T2  - Third IEEE International Conference on Robotic Computing (IRC)
N2  - Avoiding collisions between a robot arm and any obstacle in its path is essential to human-robot collaboration. Multiple systems are available that can detect obstacles in the robot's way prior and subsequent to a collision. The systems work well in different areas surrounding the robot. One area that is difficult to handle is the area that is hidden by the robot arm. This paper focuses on pick and place maneuvers, especially on obstacle detection in between the robot arm and the table that robot is located on. It introduces the use of single pixel time-of-flight sensors to detect obstacles directly from the robot arm. The proposed approach reduces the complexity of the problem by locking axes of the robot that are not needed for the pick and place movement. The comparison of simulated results and laboratory measurements show concordance.
Y1  - 2019
SN  - 978-1-5386-9245-5 (Online)
SB  - 978-1-5386-9245-5 (Online)
SN  - 978-1-5386-9246-2 (Print on Demand)
SB  - 978-1-5386-9246-2 (Print on Demand)
U6  - https://doi.org/10.1109/IRC.2019.00046
DO  - https://doi.org/10.1109/IRC.2019.00046
SP  - 250
EP  - 253
PB  - IEEE
ER  -