Depth camera based collision avoidance via active robot control
2014 (English)In: Journal of manufacturing systems, ISSN 0278-6125, Vol. 33, no 4, 711-718 p.Article in journal (Refereed) Published
A new type of depth cameras can improve the effectiveness,of safety monitoring in human-robot collaborative environment. Especially on today's manufacturing shop floors, safe human-robot collaboration is of paramount importance for enhanced work efficiency, flexibility, and overall productivity. Within this context, this paper presents a depth camera based approach for cost-effective real-time safety monitoring of a human-robot collaborative assembly cell. The approach is further demonstrated in adaptive robot control. Stationary and known objects are first removed from the scene for efficient detection of obstacles in a monitored area. The collision detection is processed between a virtual model driven by real sensors, and 3D point cloud data of obstacles to allow different safety scenarios. The results show that this approach can be applied to real-time work cell monitoring.
Place, publisher, year, edition, pages
2014. Vol. 33, no 4, 711-718 p.
Depth camera, Monitoring, Collision avoidance, Human-robot collaboration
Other Engineering and Technologies
IdentifiersURN: urn:nbn:se:kth:diva-160771DOI: 10.1016/j.jmsy.2014.04.004ISI: 000348883200024ScopusID: 2-s2.0-84919463262OAI: oai:DiVA.org:kth-160771DiVA: diva2:792130
QC 201503032015-03-032015-02-272015-03-06Bibliographically approved