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

Barcellini, Alberto; Bascetta, Luca; Raymo, Marco; Rocca, Paolo; Zanchettin, Andrea M. and Robertsson, Anders LU (2012) 10th International IFAC Symposium on Robot Control In 10th 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:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Sensory based robot control, Security, Robot control (adaptive, robust, learning)
in
10th IFAC Symposium on Robot Control
pages
664 - 669
publisher
IFAC
conference name
10th International IFAC Symposium on Robot Control
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
2013-02-01 11:44:59
date last changed
2017-01-01 06:05:56
@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},
  keyword      = {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},
  year         = {2012},
}