Paper published in a journal (Scientific congresses, symposiums and conference proceedings)
Human-Robot Collaboration: Twofold strategy algorithm to avoid collisions using ToF sensor
Ahmad, Rafiq; Plapper, Peter
2014In Applied Mechanics and Materials Journal
Peer reviewed
 

Files


Full Text
2nd - Manuscript-ICCMA-Dr Rafiq Ahmad.pdf
Author postprint (113.14 kB)
Request a copy

All documents in ORBilu are protected by a user license.

Send to



Details



Keywords :
Robot path planning; Vision based system; Time of Flight (ToF) sensor; Safe robot trajectory generation; Collision detection and avoidance
Abstract :
[en] The importance of Human Robot Interaction to complement human skills in a manufacturing environment with industrial robots increases the concerns over safety of human and the robot. It is necessary to identify collision risks and avoid them otherwise production stops may cost a huge amount to the industry. A robot working at manufacturing facility should be able to predict potential collisions and must be able to prevent i.e. react automatically for safe detour around obstacle/human. Currently, industrial robots are able to detect collisions after a real contact but the existing proposals for avoiding collisions are either computationally expensive or not very well adapted to human safety. The objective of this paper is to provide intelligence to the industrial robot to predict collision risks and react automatically without stopping the production in a static environment. The proposed approach using Time of Flight (TOF) camera, provides decision regarding trajectory correction and improvement by shifting robot to a secure position. The application presented in this paper is for safe KUKA robot trajectory generation in peg-in-hole assembly process in the laboratory context.
Disciplines :
Mechanical engineering
Author, co-author :
Ahmad, Rafiq ;  University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit
Plapper, Peter ;  University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit
Language :
English
Title :
Human-Robot Collaboration: Twofold strategy algorithm to avoid collisions using ToF sensor
Publication date :
December 2014
Event name :
2nd International Conference on Control, Mechatronics and Automation
Event organizer :
sponsored by International Association of Computer Science and Information Technology
Event place :
Dubai, United Arab Emirates
Event date :
08-12-2014 to 10-12-2014
Audience :
International
Journal title :
Applied Mechanics and Materials Journal
ISSN :
1660-9336
Peer reviewed :
Peer reviewed
Name of the research project :
KIPs
Available on ORBilu :
since 17 September 2014

Statistics


Number of views
194 (11 by Unilu)
Number of downloads
1 (1 by Unilu)

Bibliography


Similar publications



Contact ORBilu