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Towards Safe Speed and Separation Monitoring in Human-Robot Collaboration with 3D-Time-of-Flight Cameras

  • Human-robot collaboration plays a strong role in industrial production processes. The ISO/TS 15066 defines four different methods of collaboration between humans and robots. So far, there was no robotic system available that incorporates all four collaboration methods at once. Especially for the speed and separation monitoring, there was no sensor system available that can easily be attachedHuman-robot collaboration plays a strong role in industrial production processes. The ISO/TS 15066 defines four different methods of collaboration between humans and robots. So far, there was no robotic system available that incorporates all four collaboration methods at once. Especially for the speed and separation monitoring, there was no sensor system available that can easily be attached directly to an off-the-shelf industrial robot arm and that is capable of detecting obstacles in distances from a few millimeters up to five meters. This paper presented first results of using a 3D time-of-flight camera directly on an industrial robot arm for obstacle detection in human-robot collaboration. We attached a Visionary-T camera from SICK to the flange of a KUKA LBR iiwa 7 R800. With Matlab, we evaluated the pictures and found that it works very well for detecting obstacles in a distance range starting from 0.5 m and up to 5 m.show moreshow less

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Author:Urban Himmelsbach, Thomas WendtGND, Matthias Lai
Creating Corporation:IEEE
Publisher:IEEE
Place of publication:Laguna Hills
Year of Publication:2018
Pagenumber:4
ISBN:978-1-5386-4652-6 (Elektronisch)
ISBN:978-1-5386-4651-9 (USB)
ISBN:978-1-5386-4653-3 (Print on Demand)
Language:English
Tag:3D-Time-of-Flight Cameras; CoBot; Human-Robot Collaboration; Safe Speed and Separation Monitoring.
Parent Title (English):2018 Second IEEE International Conference on Robotic Computing (IRC)
First Page:197
Last Page:200
Document Type:Conference Proceeding
Institutes:Bibliografie
Release Date:2019/01/09
Licence (German):License LogoEs gilt das UrhG
Note:
Konferenz: 2018 Second IEEE International Conference on Robotic Computing (IRC), 31 Jan.-2 Feb. 2018,  Laguna Hills, CA, USA
DOI:https://doi.org/10.1109/IRC.2018.00042