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Depth camera based collision avoidance via active robot control
Högskolan i Skövde, Institutionen för ingenjörsvetenskap. Högskolan i Skövde, Forskningscentrum för Virtuella system. (Produktion och automatiseringsteknik, Production and Automation Engineering)ORCID-id: 0000-0002-8906-630X
Högskolan i Skövde, Institutionen för ingenjörsvetenskap. Högskolan i Skövde, Forskningscentrum för Virtuella system. Department of Production Engineering, Royal Institute of Technology, 100 44 Stockholm, Sweden. (Produktion och automatiseringsteknik, Production and Automation Engineering)
2014 (engelsk)Inngår i: Journal of manufacturing systems, ISSN 0278-6125, E-ISSN 1878-6642, Vol. 33, nr 4, s. 711-718Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

A new type of depth cameras can improve the effectiveness of safety monitoring in human–robot collaborative environment. Especially on today's manufacturing shop floors, safe human–robot collaboration is of paramount importance for enhanced work efficiency, flexibility, and overall productivity. Within this context, this paper presents a depth camera based approach for cost-effective real-time safety monitoring of a human–robot collaborative assembly cell. The approach is further demonstrated in adaptive robot control. Stationary and known objects are first removed from the scene for efficient detection of obstacles in a monitored area. The collision detection is processed between a virtual model driven by real sensors, and 3D point cloud data of obstacles to allow different safety scenarios. The results show that this approach can be applied to real-time work cell monitoring.

sted, utgiver, år, opplag, sider
Elsevier, 2014. Vol. 33, nr 4, s. 711-718
Emneord [en]
Depth camera, Monitoring, Collision avoidance, Human–robot collaboration
HSV kategori
Forskningsprogram
Teknik; Produktion och automatiseringsteknik
Identifikatorer
URN: urn:nbn:se:his:diva-9376DOI: 10.1016/j.jmsy.2014.04.004ISI: 000348883200024Scopus ID: 2-s2.0-84919463262OAI: oai:DiVA.org:his-9376DiVA, id: diva2:722564
Merknad

Available online 21 May 2014

Tilgjengelig fra: 2014-06-09 Laget: 2014-06-09 Sist oppdatert: 2019-12-20bibliografisk kontrollert

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