Publikationsdatenbank
Publication
Safe Human-Robot-Cooperation: Image-based Collision Detection for Industrial RobotsDirk Ebert , Dominik Henrich
Abstract (english)
This paper analyzes the problem of sensor-based colli-sion detection for an industrial robotic manipulator. A method to perform collision tests based on images taken from several stationary cameras in the work cell is pre-sented. The collision test works entirely based on the im-ages, and does not construct a representation of the Carte-sian space. It is shown how to perform a collision test for all possible robot configurations using only a single set of images taken simultaneously.
Publication data
| Year: | 2002 |
| Publication date: | 31. October 2002 |
| Source: | IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, September 30th-October 5th, 2002 |
| Project: | SIMERO |
| Keywords (deutsch): | Kollisionserkennung , Mensch-Roboter-Koexistenz , Mensch-Roboter-Kooperation |
| Keywords (english): | collision detection , Human-Robot-Coexistence , Human-Robot-Cooperation |
| Referrer: | https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=ebert2002a |
BibTeX
@MISC{ebert2002a,
TITLE = "Safe Human-Robot-Cooperation: Image-based Collision Detection for Industrial Robots",
AUTHOR = "Ebert, Dirk and Henrich, Dominik",
YEAR = "2002",
JOURNAL = "IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, September 30th-October 5th, 2002",
HOWPUBLISHED = "\url{https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=ebert2002a}",
}
Download
| Filename | Size | Language | Format | ||||
|---|---|---|---|---|---|---|---|
| ebert2002a.Safe.HumanRobotCooperation.Imagebased.Collision.D etection.for.Industrial.Robots.pdf |
291.3K | english | download preprint |