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Collision Avoidance System for Collaborative Robotics

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Advances in Service and Industrial Robotics (RAAD 2017)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 49))

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Abstract

In this paper a real-time collision avoidance algorithm, based on the method of artificial potentials an intended for collaborative robotics applications was studied. Within this work, the movements of a person are detected and acquired by a vision system and a dummy, developed to interact with a robot in a simulated workspace, replicates these actions. Ellipsoids are then defined to entirely include several parts of the dummy and the end-effector of the robot. The minimum distance between the ellipsoids of the dummy and the one of the end-effector is the input of the collision avoidance algorithm. The results of tests are presented to show the effectiveness of the algorithm. Finally, the influence of the velocity of the obstacle on the capability of the algorithm of ensuring safe collision avoidance is analyzed.

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Authors and Affiliations

  1. Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Torino, Italy

    Stefano Mauro, Leonardo Sabatino Scimmi & Stefano Pastorelli

Authors
  1. Stefano Mauro
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  2. Leonardo Sabatino Scimmi
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  3. Stefano Pastorelli
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Corresponding author

Correspondence to Stefano Mauro .

Editor information

Editors and Affiliations

  1. Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Turin, Italy

    Carlo Ferraresi

  2. Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Turin, Italy

    Giuseppe Quaglia

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Mauro, S., Scimmi, L.S., Pastorelli, S. (2018). Collision Avoidance System for Collaborative Robotics. In: Ferraresi, C., Quaglia, G. (eds) Advances in Service and Industrial Robotics. RAAD 2017. Mechanisms and Machine Science, vol 49. Springer, Cham. https://doi.org/10.1007/978-3-319-61276-8_38

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  • DOI: https://doi.org/10.1007/978-3-319-61276-8_38

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-61275-1

  • Online ISBN: 978-3-319-61276-8

  • eBook Packages: EngineeringEngineering (R0)

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