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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.‚Ķshow moreshow less

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Metadaten
Author:Urban Himmelsbach, Thomas WendtGND, Nikolai Hangst, Philipp Gawron
Creating Corporation:IEEE
Year of Publication:2019
Pagenumber:4
ISBN:978-1-5386-9245-5 (Online)
ISBN:978-1-5386-9246-2 (Print on Demand)
Language:English
Parent Title (English):Third IEEE International Conference on Robotic Computing (IRC)
First Page:250
Last Page:253
Document Type:Conference Proceeding
Institutes:Hochschule Offenburg / Bibliografie
Acces Right:Zugriffsbeschränkt
Release Date:2020/01/02
Licence (German):License LogoCreative Commons - CC BY - Namensnennung 4.0 International
Note:
Third IEEE International Conference on Robotic Computing, 25-27 Feb. 2019, Naples, Italy
DOI:https://doi.org/10.1109/IRC.2019.00046