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Ebert, Dirk ; Komuro, Takashi ; Namiki, Akio ; Ishikawa, Masatoshi:
Safe human-robot-coexistence: emergency-stop using a high-speed vision-chip.
In:
IEEE/RSJ International Conference on Intelligent Robots and Systems. -
Edmonton, AB, Canada
,
2005
. - S. 2923-2928
DOI: https://doi.org/10.1109/IROS.2005.1545242
Abstract
The coexistence of humans and industrial robots in a common workspace provides the advantage of increased flexibility in production or longer system up-time during maintenance. However, it is fundamentally necessary to guarantee the safety of the human. This paper presents an approach that uses a specialized tracking-vision-chip to realize a high-speed emergency-stop for safe human-robot-coexistence. The presented approach uses the ability of the vision-chip to perform pixel-parallel masking and fast summation-operations on binary images to detect whether the robot and human are too close. After initial evaluation in a (semi)-simulation, the approach was realized in an experimental system. Even with only a small 8-bit microcontroller controlling the vision-chip and the communication, a cycle time of more than 500Hz was achieved.
Weitere Angaben
| Publikationsform: | Aufsatz in einem Buch |
|---|---|
| Begutachteter Beitrag: | Ja |
| Institutionen der Universität: | Fakultäten > Fakultät für Mathematik, Physik und Informatik > Institut für Informatik > Lehrstuhl Angewandte Informatik III > Lehrstuhl Angewandte Informatik III - Univ.-Prof. Dr. Dominik Henrich |
| Titel an der UBT entstanden: | Ja |
| Themengebiete aus DDC: | 000 Informatik,Informationswissenschaft, allgemeine Werke > 004 Informatik |
| Eingestellt am: | 27 Feb 2025 13:03 |
| Letzte Änderung: | 27 Feb 2025 13:03 |
| URI: | https://eref.uni-bayreuth.de/id/eprint/92584 |