Safe cooperation between human operators and visually controlled industrial manipulators

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Title: Safe cooperation between human operators and visually controlled industrial manipulators
Authors: Corrales Ramón, Juan Antonio | Garcia, Gabriel J. | Candelas-Herías, Francisco A. | Pomares, Jorge | Torres, Fernando
Research Group/s: Automática, Robótica y Visión Artificial
Center, Department or Service: Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal
Keywords: Human-robot interaction | Visual servoing | Bounding volumes | Distance computation | Human tracking | Sensor fusion
Knowledge Area: Ingeniería de Sistemas y Automática
Issue Date: Feb-2010
Publisher: INTECH
Citation: CORRALES RAMÓN, Juan Antonio, et al. "Safe cooperation between human operators and visually controlled industrial manipulators". En: Human-Robot Interaction / Daisuke Chugo (Ed.). Vienna : INTECH, 2010. ISBN 978-953-307-051-3, pp. 203-224
Abstract: Industrial tasks can be improved substantially by making humans and robots collaborate in the same workspace. The main goal of this chapter is the development of a human-robot interaction system which enables this collaboration and guarantees the safety of the human operator. This system is composed of two subsystems: the human tracking system and the robot control system. The human tracking system deals with the precise real-time localization of the human operator in the industrial environment. It is composed of two systems: an inertial motion capture system and an Ultra-WideBand localization system. The robot control system is based on visual servoing. A safety behaviour which stops the normal path tracking of the robot is performed when the robot and the human are too close. This safety behaviour has been implemented through a multi-threaded software architecture in order to share information between both systems. Thereby, the localization measurements obtained by the human tracking system are processed by the robot control system to compute the minimum human-robot distance and determine if the safety behaviour must be activated.
Sponsor: Spanish Ministry of Science and Innovation and the Spanish Ministry of Education through the projects DPI2005-06222 and DPI2008-02647 and the grant AP2005-1458.
ISBN: 978-953-307-051-3
Language: eng
Type: info:eu-repo/semantics/bookPart
Peer Review: si
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Appears in Collections:INV - AUROVA - Capítulos de Libros
INV - HURO - Capítulos de Libros

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