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Velocity control for safe robot guidance based on fused vision and force/torque data
Stefan Kuhn , Thorsten Gecks , Dominik Henrich

Abstract (english)
We present a method for securing guided robot motions in terms of human/robot cooperation. For this, we limit the maximum allowable velocity of the robot based on the distance to the human or to the next obstacle and generate the effective velocity using guidance informations provided by the interacting human. Therefore, we fuse the two heterogenous data types of a camera and a force torque sensor. The cameras are used to monitor the robot's workspace applying a difference image method. Given this obstacle information, distances are calculated between the robot and humans or objects in the environment respectively. The distance within each image is determined via an extended difference image method. The distances acquired from each camera are fused to approximate the real robot to object distance within the workspace. This distance regulates the maximum allowable velocity of the robot. The force/torque sensor provides the guidance information, i.e. amount, direction of the force and moment. This information is used to generate the robot's movement taking the maximum allowable velocity into consideration.

Publication data

Year: 2006
Publication date: 06. September 2006
Editor: IEEE
Source: IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems, Heidelberg, Germany, September 03-06, 2006
Project: SIMERO
Keywords (deutsch): Kollisionserkennung , kraftbasiertes Führen , Kraftregelung , Mensch-Roboter-Koexistenz , Mensch-Roboter-Kooperation , Robotik , Sicherheit
Keywords (english): collision detection , force following , Force-Torque , Human-Robot-Coexistence , Human-Robot-Cooperation , industrial robots , sensor fusion , vision
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=kuhn2006a

BibTeX

@ARTICLE{kuhn2006a,
  TITLE             = "Velocity control for safe robot guidance based on fused vision and force/torque data",
  AUTHOR            = "Kuhn, Stefan and Gecks, Thorsten and Henrich, Dominik",
  YEAR              = "2006",
  EDITOR            = "IEEE",
  JOURNAL           = "IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems, Heidelberg, Germany, September 03-06, 2006",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=kuhn2006a}",
}

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kuhn2006a.Velocity.control.for.safe.robot.guidance.based.on.fused.vision.and.force.torque.data.pdf   1.6M   english   PDF   download preprint


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