Title:

Sicherheitsstrategien für die Mensch-Roboter-Kooperation – Das SIMERO-System
(Safety strategies for human-robot-cooperation: The SIMERO-system)

Authors with links to author´s homepage:

»Dirk EBERT, »Dominik HENRICH

Key Words:

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

Abstract:

Currently, industrial robots have only a limited perception of their environment. Therefore, if humans are in the robot´s workspace they are in danger. Using a classification of the different robot motions it is shown that the most dangerous motion for the human in the workspace is the transfer/transport motion. Thererfore, the SIMERO-system secures this motion type. Its main components are image processing, robot model, collision detection and path-planning. These components are presented in detail.

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Download full paper (German) as PDF (191 KB)

Reference for Copy&Paste:

Ebert, D., Henrich, D.: "SIMERO - Sicherheitsstrategien für die Mensch-Roboter-Kooperation" In: "OTS-Systeme in der Robotik - Roboter Ohne Trennende Schutzeinrichtungen", Reihe BKM Berichte, Herbert Utz Verlag, S. 5.1-5.17, München, 25. Juni 2002