Title:

    Safe Human-Robot-Cooperation: Image-based collision detection for Industrial Robots

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Key Words:

    collision detection, shape-from-silhouette, human-robot-coexistence

Abstract:

    This paper analyzes the problem of sensor-based colli-sion detection for an industrial robotic manipulator. A method to perform collision tests based on images taken from several stationary cameras in the work cell is presented. The collision test works entirely based on the images, and does not construct a representation of the Cartesian space. It is shown how to perform a collision test for all possible robot configurations using only a single set of images taken simultaneously.

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Reference for Copy&Paste:

    Ebert, D., Henrich, D.: "Safe Human-Robot-Cooperation: Image-based collision detection for Industrial Robots" In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1826-1831, Lausanne, October 2 - 4, 2002