Reliable Workspace Monitoring in Safe Human-Robot Environment
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Moughlba, Amine Abou [1] ; Héctor Herrero [1] ; Raquel Pacheco [1] ; Jose Luis Outón [1] ; Damien Sallé [1]
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[1] TECNALIA, Industry and Transport Division (Donostia-San Sebastián)
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- Localización: International Joint Conference SOCO’16-CISIS’16-ICEUTE’16: San Sebastián, Spain, October 19th-21st, 2016 Proceedings / coord. por Manuel Graña Romay, José Manuel López Guede, Oier Etxaniz, Álvaro Herrero Cosío, Héctor Quintián Pardo, Emilio Santiago Corchado Rodríguez, 2017, ISBN 978-3-319-47364-2, págs. 256-266
- Idioma: inglés
- Texto completo no disponible (Saber más ...)
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Resumen
The implementation of a reliable vision system for full perception of the human-robot environment is a key issue for the flexible collaborative production industries, especially for the frequently changing applications. The use of such system facilitates the perception and recognition of the human activity, and consequently highly increases the robustness and reactivity of safety strategies in collaborative tasks. This paper presents an implementation of several techniques for workspace monitoring in collaborative human-robot applications. A reliable perception of the overall environment is performed to generate a consistent point cloud which is used for human detection and tracking. Additionally, safety strategies on the robotic system (reduced velocity, emergency stop...) are activated when the human-robot distance approaches pre-defined security thresholds.
