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Depth camera based collision avoidance via active robot control
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DOI：10.1016/j.jmsy.2014.04.004.png)
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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. (C) 2014 The Society of Manufacturing Engineers. Published by Elsevier Ltd. All rights reserved.
Keyword:
Depth camera
Monitoring
Collision avoidance
Human-robot collaboration
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