Integrating an Anti-Collision System Based on Laser Time-Of-Flight Sensor in an Industrial Robot Controller
(2012) 10th International IFAC Symposium on Robot Control p.664-669- Abstract
- 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
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/3448277
- author
- Barcellini, Alberto ; Bascetta, Luca ; Raymo, Marco ; Rocca, Paolo ; Zanchettin, Andrea M. and Robertsson, Anders LU
- organization
- publishing date
- 2012
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- Sensory based robot control, Security, Robot control (adaptive, robust, learning)
- host publication
- 10th IFAC Symposium on Robot Control
- pages
- 664 - 669
- publisher
- IFAC
- conference name
- 10th International IFAC Symposium on Robot Control
- conference location
- Dubrovnik, Croatia
- conference dates
- 2012-09-05
- external identifiers
-
- scopus:84881003269
- ISSN
- 1474-6670
- ISBN
- 978-3-902823-11-3
- DOI
- 10.3182/20120905-3-HR-2030.00094
- language
- English
- LU publication?
- yes
- id
- e45a18f4-51d5-45b3-996c-19fef4375113 (old id 3448277)
- date added to LUP
- 2016-04-01 14:10:28
- date last changed
- 2024-01-24 20:50:53
@inproceedings{e45a18f4-51d5-45b3-996c-19fef4375113, abstract = {{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}}, author = {{Barcellini, Alberto and Bascetta, Luca and Raymo, Marco and Rocca, Paolo and Zanchettin, Andrea M. and Robertsson, Anders}}, booktitle = {{10th IFAC Symposium on Robot Control}}, isbn = {{978-3-902823-11-3}}, issn = {{1474-6670}}, keywords = {{Sensory based robot control; Security; Robot control (adaptive; robust; learning)}}, language = {{eng}}, pages = {{664--669}}, publisher = {{IFAC}}, title = {{Integrating an Anti-Collision System Based on Laser Time-Of-Flight Sensor in an Industrial Robot Controller}}, url = {{http://dx.doi.org/10.3182/20120905-3-HR-2030.00094}}, doi = {{10.3182/20120905-3-HR-2030.00094}}, year = {{2012}}, }