Paper Info
Title
Sensing Volume Coverage of Robot Workspace using On-Robot Time-of-Flight Sensor Arrays for Safe Human Robot Interaction
Abstract
In this paper, an analysis of the sensing volume coverage of robot workspace as well as the shared humanrobot collaborative workspace for various configurations of onrobot Time-of-Flight (ToF) sensor array rings is presented. A methodology for volumetry using octrees to quantity the detection/sensing volume of the sensors is proposed. The change in sensing volume coverage by increasing the number of sensors per ToF sensor array ring and also increasing the number of rings mounted on robot link is also studied. Considerations of maximum ideal volume around the robot workspace that a given ToF sensor array ring placement and orientation setup should cover for safe human robot interaction are presented. The sensing volume coverage measurements in this maximum ideal volume are tabulated and observations on various ToF configurations and their coverage for close and far zones of the robot are determined.
Year
DOI
Venue
2019
10.1109/SMC.2019.8914418
2019 IEEE International Conference on Systems, Man and Cybernetics (SMC)
Keywords
Field
DocType
robotics,time-of-flight sensors,robot workspace,sensing volume,human-robot interaction,3D simulation,octree,volumetry
Robot workspace,Simulation,Computer science,Control theory,Time of flight sensor,Robot,Human–robot interaction
Conference
ISSN
ISBN
Citations 
1062-922X
978-1-7281-4570-9
0
PageRank 
References 
Authors
0.34
0
2
Name
Order
Citations
PageRank
Shitij Kumar111.73
Ferat Sahin270645.49