TY  - CHAP
U1  - Konferenzveröffentlichung
A1  - Himmelsbach, Urban
A1  - Wendt, Thomas
T1  - Built-In 360 Degree Separation Monitoring for Grippers on Robotic Manipulators in Human-Robot Collaboration
T2  - Proceedings: The Fourth IEEE International Conference on Robotic Computing
N2  - Efficient collaborative robotic applications need a combination of speed and separation monitoring, and power and force limiting operations. While most collaborative robots have built-in sensors for power and force limiting operations, there are none with built-in sensor systems for speed and separation monitoring. This paper proposes a system for speed and separation monitoring directly from the gripper of the robot. It can monitor separation distances of up to three meters. We used single-pixel Time-of-Flight sensors to measure the separation distance between the gripper and the next obstacle perpendicular to it. This is the first system capable of measuring separation distances of up to three meters directly from the robot's gripper.
Y1  - 2020
SN  - 978-1-7281-5237-0 (digital)
SB  - 978-1-7281-5237-0 (digital)
SN  - 978-1-7281-5238-7 (Print on Demand)
SB  - 978-1-7281-5238-7 (Print on Demand)
U6  - https://doi.org/10.1109/IRC.2020.00031
DO  - https://doi.org/10.1109/IRC.2020.00031
SP  - 156
EP  - 160
S1  - 4
ER  -