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Novel safety concept for safeguarding and supporting humans in human-robot shared workplaces with high-payload robots in industrial applications

: Vogel, C.; Elkmann, N.

Postprint urn:nbn:de:0011-n-5026706 (3.0 MByte PDF)
MD5 Fingerprint: aa92bba6f86e6e5e7614499d17489d20
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Erstellt am: 16.11.2018

Association for Computing Machinery -ACM-; Association for Computing Machinery -ACM-, Special Interest Group on Artificial Intelligence -SIGART-; Association for Computing Machinery -ACM-, Special Interest Group on Computer and Human Interaction -SIGCHI-:
ACM/IEEE International Conference on Human-Robot Interaction, HRI 2017. Proceedings : Vienna, Austria, March 6-9, 2017
New York: ACM, 2017
ISBN: 978-1-4503-4336-7
ISBN: 978-1-4503-4885-0
International Conference on Human-Robot Interaction (HRI) <12, 2017, Vienna>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IFF ()

This contribution aims on presenting a novel safety concept that provides a safe but also interactive and supportive work of humans cooperating with high-payload robots in industrial applications. The proposed safety concept consists of a tactile floor mat for ensuring the safety of humans and a visualization system for depicting user-relevant information by directly projecting it onto the shared workspace. Furthermore, we implemented the approach formula described in ISO/TS 15066 to allow a dynamic generation of minimal safety zones enclosing the robot that depend not only on the robot's joint angles and velocities but also on the human's behavior. In this case, the human's direction of movement and speed was estimated using data from the tactile floor mat sensor.