Collision Avoidance System for Collaborative Robotics

被引：7
|
作者：
Mauro, Stefano [1 ]
Scimmi, Leonardo Sabatino [1 ]
Pastorelli, Stefano [1 ]
机构：
[1] Politecn Torino, Dept Mech & Aerosp Engn, Turin, Italy
来源：
ADVANCES IN SERVICE AND INDUSTRIAL ROBOTICS | 2018年 / 49卷
关键词：
Collaborative robotics; Artificial potentials; Collision avoidance algorithm; Vision system;
D O I：
10.1007/978-3-319-61276-8_38
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper a real-time collision avoidance algorithm, based on the method of artificial potentials an intended for collaborative robotics applications was studied. Within this work, the movements of a person are detected and acquired by a vision system and a dummy, developed to interact with a robot in a simulated workspace, replicates these actions. Ellipsoids are then defined to entirely include several parts of the dummy and the end-effector of the robot. The minimum distance between the ellipsoids of the dummy and the one of the end-effector is the input of the collision avoidance algorithm. The results of tests are presented to show the effectiveness of the algorithm. Finally, the influence of the velocity of the obstacle on the capability of the algorithm of ensuring safe collision avoidance is analyzed.
引用
收藏
页码：344 / 352
页数：9
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