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Safe Human-Robot-Cooperation: Image-based Collision Detection for Industrial Robots
Dirk 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: http://www.ai3.uni-bayreuth.de/resypub/?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{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=ebert2002a}",
}

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ebert2002a.Safe.HumanRobotCooperation.Imagebased.Collision.Detection.for.Industrial.Robots.pdf   291.3K   english   PDF   download preprint


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