Dynamic Collision Avoidance System for a Manipulator Based on RGB-D Data

• Type: Article in International Conference Proceedings Book
• Date: 2018

Authors

Brito, T (Author) Other; Lima, J (Author) Other; Pedro Luís Cerqueira Gomes da Costa (Author) FEUP; Piardi, L (Author) Other

Conference proceedings International

Title: Advances in Intelligent Systems and Computing

Pages: 643-654

3rd Iberian Robotics Conference, ROBOT 2017

22 November 2017 through 24 November 2017

Indexing

Scopus - 13 Citations

Other information

Authenticus ID: P-00N-B1F

DOI: 10.1007/978-3-319-70836-2_53

Abstract (EN): The new paradigms of Industry 4.0 demand the collaboration between robot and humans. They could help and collaborate each other without any additional safety unlike other manipulators. The robot should have the ability of acquire the environment and plan (or re-plan) on-the-fly the movement avoiding the obstacles and people. This paper proposes a system that acquires the environment space, based on a kinect sensor, performs the path planning of a UR5 manipulator for pick and place tasks while avoiding the objects, based on the point cloud from kinect. Results allow to validate the proposed system. © Springer International Publishing AG 2018.

Language: English

Type (Professor's evaluation): Scientific