Title data
Kuhn, Stefan ; Gecks, Thorsten ; Henrich, Dominik:
Velocity control for safe robot guidance based on fused vision and force/torque data.
In:
IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. -
Heidelberg
,
2006
. - pp. 485-492
DOI: https://doi.org/10.1109/MFI.2006.265623
Project information
Project title: |
Project's official title Project's id SIMERO No information |
---|
Abstract in another language
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.
Further data
Item Type: | Article in a book |
---|---|
Refereed: | Yes |
Keywords: | collision detection; force following; Force-Torque; Human-Robot-Coexistence; Human-Robot-Cooperation; Industrial robots; sensor fusion; vision |
Institutions of the University: | Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Computer Science > Chair Applied Computer Science III > Chair Applied Computer Science III - Univ.-Prof. Dr. Dominik Henrich Faculties Faculties > Faculty of Mathematics, Physics und Computer Science Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Computer Science Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Computer Science > Chair Applied Computer Science III |
Result of work at the UBT: | Yes |
DDC Subjects: | 000 Computer Science, information, general works > 004 Computer science |
Date Deposited: | 26 Feb 2025 14:19 |
Last Modified: | 17 Mar 2025 14:28 |
URI: | https://eref.uni-bayreuth.de/id/eprint/92564 |