Non-Contact Safety for Stationary Robots Through Optical Entry Detection With a Co-Moving 3D-Camera

Mandischer, Nils; Weidemann, Carlo; Hüsing, Mathias; Corves, Burkhard

doi:10.1109/smc53654.2022.9945494

Cited by 2 publications

(5 citation statements)

References 13 publications

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“…The implementation of local sensing is discussed in Mandischer et al (2022) . The multiple iterations on three robot velocities are processed to estimate the worst-case intrusion distance and reaction time, as illustrated in Figure 11 .…”

Section: Experimental Setup For Efficient Intrusion Distance Estimationmentioning

confidence: 99%

“…Furthermore, safety from design can be implemented using the LiDAR sensor concept by allotting human workspace away from the constrained occlusion. Future steps would include determining an optimal combination of different local (co-moving/dynamic ( Mandischer et al, 2022 ) or static ( Rashid et al, 2021 )) and global sensing ( Rashid et al, 2021 ) systems for a given agile or disassembly process in a safety digital twin.…”

Section: Experimental Setup For Efficient Intrusion Distance Estimationmentioning

confidence: 99%

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Flexible sensor concept and an efficient integrated sensing controlling for an efficient human-robot collaboration using 3D local global sensing systems

et al. 2023

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Human-robot collaboration with traditional industrial robots is a cardinal step towards agile manufacturing and re-manufacturing processes. These processes require constant human presence, which results in lower operational efficiency based on current industrial collision avoidance systems. The work proposes a novel local and global sensing framework, which discusses a flexible sensor concept comprising a single 2D or 3D LiDAR while formulating occlusion due to the robot body. Moreover, this work extends the previous local global sensing methodology to incorporate local (co-moving) 3D sensors on the robot body. The local 3D camera faces toward the robot occlusion area, resulted from the robot body in front of a single global 3D LiDAR. Apart from the sensor concept, this work also proposes an efficient method to estimate sensitivity and reactivity of sensing and control sub-systems The proposed methodologies are tested with a heavy-duty industrial robot along with a 3D LiDAR and camera. The integrated local global sensing methods allow high robot speeds resulting in process efficiency while ensuring human safety and sensor flexibility.

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Section: Experimental Setup For Efficient Intrusion Distance Estimationmentioning

confidence: 99%

Section: Experimental Setup For Efficient Intrusion Distance Estimationmentioning

confidence: 99%

Flexible sensor concept and an efficient integrated sensing controlling for an efficient human-robot collaboration using 3D local global sensing systems

et al. 2023

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“…The extension of the working system is necessary at different levels of interaction, and includes two main requirements, the extension of the degree of autonomy of the robot, and the allowance of spatial proximity between the human and the robot during operation [2]. This particularly requires advances in interactive and adaptive safety devices that guarantee human integrity [61].…”

Section: Key Aspects Of Human-robot Collaborationmentioning

confidence: 99%

“…In cooperation, humans and robots work on a common goal in a shared workspace [65]. Cooperation requires advanced safety devices such as force sensors, advanced machine vision, and complex sensing for collision detection [61,66,67].…”

mentioning

confidence: 99%

“…Non-wearable sensors, such as 3D time-of-flight cameras and radar systems, are less intrusive and do not require the human to wear any special equipment. A three-dimensional time-of-flight camera attached to an industrial robot arm can detect obstacles at distances from a few millimeters up to five meters [134] and adaptively control the end-effector velocity of the robot based on the distances to the dynamic environmental objects [61].…”

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confidence: 99%

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Literature Review on Recent Trends and Perspectives of Collaborative Robotics in Work 4.0

Weidemann,

Mandischer,

van Kerkom

et al. 2023

Robotics

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This literature review presents a comprehensive analysis of the use and potential application scenarios of collaborative robots in the industrial working world, focusing on their impact on human work, safety, and health in the context of Industry 4.0. The aim is to provide a holistic evaluation of the employment of collaborative robots in the current and future working world, which is being increasingly driven by the automation and digitization of production processes, and which can be outlined using the term Work 4.0. In this context, the forms of work organization, and the demands and impacts on humans are changing profoundly. Collaborative robots represent a key technology to aid the transition. The review utilizes expert interviews for identifying relevant keywords, and follows the Preferred Reporting Items for Systematic Review and Meta-Analyses (PRISMA) framework to evaluate peer-reviewed literature between 2002 and January 2022. The analysis includes forms of interaction, and the distribution of roles, control interfaces, safety procedures, and ergonomics and health. In addition, the review offers a heatmap displaying the research topics of 715 publications for each year, and a database of these publications in BibTeX format that is publicly accessible. The review highlights the challenges, potential benefits, and trends of using collaborative robots in the industrial working world, emphasizing the importance of a careful evaluation of their impact on human work, safety, and health. It offers a tool set for researchers and practitioners to further explore and evaluate the employment of collaborative robots in Work 4.0.

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Non-Contact Safety for Stationary Robots Through Optical Entry Detection With a Co-Moving 3D-Camera

Cited by 2 publications

References 13 publications

Flexible sensor concept and an efficient integrated sensing controlling for an efficient human-robot collaboration using 3D local global sensing systems

Flexible sensor concept and an efficient integrated sensing controlling for an efficient human-robot collaboration using 3D local global sensing systems

Literature Review on Recent Trends and Perspectives of Collaborative Robotics in Work 4.0

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