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Vision-guided active collision avoidance for human-robot collaborations
KTH, School of Industrial Engineering and Management (ITM), Production Engineering. (Sustainable Manufacturing)ORCID iD: 0000-0001-8679-8049
2013 (English)In: Manufacturing Letters, ISSN 2213-8463, Vol. 1, no 1, 5-8 p.Article in journal (Refereed) Published
Abstract [en]

This paper reports a novel methodology of real-time active collision avoidance in an augmented environment, where virtual 3D models of robots and real camera images of operators are used for monitoring and collision detection. A prototype system is developed and linked to robot controllers for adaptive robot control, with zero robot programming for end users. According to the result of collision detection, the system can alert an operator, stop a robot, or modify the robot's trajectory away from an approaching operator. Through a case study, it shows that this method can be applied to real-world applications such as human-robot collaborative assembly to safeguard human operators.

Place, publisher, year, edition, pages
2013. Vol. 1, no 1, 5-8 p.
Keyword [en]
Human-robot collaboration, Monitoring, Robot
National Category
Mechanical Engineering
URN: urn:nbn:se:kth:diva-139485DOI: 10.1016/j.mfglet.2013.08.001ScopusID: 2-s2.0-84892776649OAI: diva2:687086
XPRES - Initiative for excellence in production research

QC 20140219

Available from: 2014-01-13 Created: 2014-01-13 Last updated: 2014-02-19Bibliographically approved

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Wang, Lihui
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