Paper Info
Title
Collision Avoidance System for Collaborative Robotics.
Abstract
In this paper a real-time collision avoidance algorithm, based on the method of artificial potentials an intended for collaborative robotics applications was studied. Within this work, the movements of a person are detected and acquired by a vision system and a dummy, developed to interact with a robot in a simulated workspace, replicates these actions. Ellipsoids are then defined to entirely include several parts of the dummy and the end-effector of the robot. The minimum distance between the ellipsoids of the dummy and the one of the end-effector is the input of the collision avoidance algorithm. The results of tests are presented to show the effectiveness of the algorithm. Finally, the influence of the velocity of the obstacle on the capability of the algorithm of ensuring safe collision avoidance is analyzed.
Year
DOI
Venue
2017
10.1007/978-3-319-61276-8_38
ADVANCES IN SERVICE AND INDUSTRIAL ROBOTICS
Keywords
DocType
Volume
Collaborative robotics,Artificial potentials,Collision avoidance algorithm,Vision system
Conference
49
ISSN
Citations 
PageRank 
2211-0984
0
0.34
References 
Authors
2
3
Name
Order
Citations
PageRank
Stefano Mauro103.04
Leonardo Sabatino Scimmi201.01
Stefano Pastorelli352.68