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Integrating an Anti-Collision System Based on Laser Time-Of-Flight Sensor in an Industrial Robot Controller

In English

Författare

  • Alberto Barcellini
  • Luca Bascetta
  • Marco Raymo
  • Paolo Rocca
  • Andrea M. Zanchettin
  • Anders Robertsson

Summary, in English

Safe coexistence of industrial robots and human operators in the same workspace is one of the long standing goals of robotics research. One way to enforce safety is to endow the robotic system with additional sensors that can to some extent monitor the environment surrounding the robot and allow fast reaction to unexpected obstacles. This paper discusses the design of one such anti-collision system based on a laser Time-Of-Flight distance sensor. Integration of the external controller in the hardware and software architecture of a commercial industrial robot controller is discussed. Experimental results show fast response of the system to various obstacles

Publiceringsår

2012

Språk

Engelska

Sidor

664-669

Publikation/Tidskrift/Serie

10th IFAC Symposium on Robot Control

Dokumenttyp

Konferensbidrag

Förlag

IFAC

Ämne

  • Control Engineering

Nyckelord

  • Sensory based robot control
  • Security
  • Robot control (adaptive
  • robust
  • learning)

Conference name

10th International IFAC Symposium on Robot Control

Conference date

2012-09-05

Conference place

Dubrovnik, Croatia

Status

Published

Forskningsgrupp

  • LCCC

ISBN/ISSN/Övrigt

  • ISSN: 1474-6670
  • ISBN: 978-3-902823-11-3