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Single Pixel Time-of-Flight Sensors for Object Detection and Self-Detection in Three-Sectional Single-Arm Robot Manipulators

  • 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 pickAvoiding 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.show moreshow less

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Metadaten
Document Type:Conference Proceeding
Conference Type:Konferenzartikel
Zitierlink: https://opus.hs-offenburg.de/3765
Bibliografische Angaben
Title (English):Single Pixel Time-of-Flight Sensors for Object Detection and Self-Detection in Three-Sectional Single-Arm Robot Manipulators
Conference:IEEE International Conference on Robotic Computing (3. : 25-27 Feb. 2019 : Naples, Italy
Author:Urban HimmelsbachStaff MemberORCiD, Thomas WendtStaff MemberORCiDGND, Nikolai HangstStaff MemberORCiDGND, Philipp GawronStaff MemberORCiDGND
Year of Publication:2019
Publisher:IEEE
First Page:250
Last Page:253
Parent Title (English):Third IEEE International Conference on Robotic Computing (IRC)
ISBN:978-1-5386-9245-5 (Online)
ISBN:978-1-5386-9246-2 (Print on Demand)
DOI:https://doi.org/10.1109/IRC.2019.00046
Language:English
Inhaltliche Informationen
Institutes:Fakultät Wirtschaft (W)
Forschung / WLRI - Work-Life Robotics Institute
Institutes:Bibliografie
Formale Angaben
Open Access: Closed Access 
Licence (German):License LogoCreative Commons - CC BY - Namensnennung 4.0 International