Title:

Safe Human-Robot-Cooperation: Problem Analysis, System Concept and Fast Sensor Fusion

Authors with links to author´s homepage:

»Dirk EBERT, »Dominik HENRICH

Key Words:

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

Abstract:

We present a system concept allowing humans to work safely in the same environment as a robot manipulator. Several cameras survey the common workspace. A look-up-table-based fusion algorithm is used to back-project directly from the image spaces of the cameras to the manipulator’s con-figuration space. In the look-up-tables both, the camera calibration and the robot geometry are implicitly encoded. For experiments, a conven-tional 6 axis industrial manipulator is used. The work space is surveyed by four grayscale cameras. Due to the limits of present robot controllers, the computationally expensive parts of the system are executed on a server PC that communicates with the robot controller via Ethernet.

Download:

Download full paper as PDF (132 KB)

Reference for Copy&Paste:

Ebert, D., Henrich, D.: "Safe Human-Robot-Cooperation:Problem Analysis,System Concept and Fast Sensor Fusion" In: IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems, pp. 239-244, Baden-Baden, Germany, August 20 - 22, 2001