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Experimental evaluation of advanced sensor-based supervision and work cell integration strategies - EXECELL -

: Vogel, Christian; Walter, Christoph; Elkmann, Norbert


Röhrbein, F.:
Gearing up and accelerating cross-fertilization between academic and industrial robotics research in Europe : Technology transfer experiments from the ECHORD project
Cham: Springer International Publishing, 2014 (Springer Tracts in Advanced Robotics 94)
ISBN: 978-3-319-03837-7 (Print)
ISBN: 978-3-319-02934-4 (Online)
Aufsatz in Buch
Fraunhofer IFF ()

This paper presents the application of a novel projection-based safety system for ensuring hard safety in human-robot collaboration. We adapted the proposed sensor system to incorporate the joint positions of a collaborative robot, thus offering the opportunity to establish minimal and well-shaped safety spaces around the robot at any time. In this contribution we explain in detail main challenges and their solutions for generating and monitoring such safety spaces. Furthermore, we build up a collaborative workplace and evaluate the sensor system concerning its behavior and detection capabilities under operational conditions.