The RoboLAB experience: Aims, challenges and results of a joint academia-industry lab of industrial robotics

An off-line robot motion planning approach for the reduction of the energy consumption

“…The anti-collision test is based on the use of the Robotics Library (RL) [11], [12] that, for a given 3D virtual scenario considered as input, allows its off-screen simulation and the direct verification that no collision may occur among the elements and objects of the scene itself; the developed RL module partially uses the software architecture previously developed for the collision avoidance scheme proposed in [16]. Collision detection and avoidance schemes based on the virtual replica of the real robotic cell (see e.g., [17]- [19]) are often used to avoid a too complex mathematical model of the scenario and its constraints, as well as to have the capacity of efficiently testing possible collisions for any part of the robot with any obstacle in the environment.…”

“…In particular, the Math, Kin and Mdl components are used for motion planning and task-based control, whereas the Sg module allows the simulation of the virtual robot before the actual execution of the same motion by the real manipulator. Specific devoted functions allow the easy and fast computation of the minimum distance between any part of the robot and any element in the environment [16], and hence the direct check, while the simulation is running, that no collision may occur during the robot motion (otherwise the alternative target point that caused the collision is discarded).…”

Industrial robotics in factory automation: From the early stage to the Internet of Things

“…Some monitoring solutions have been proposed in [36] and [37], where the motion of a manipulator is adapted to the presence of the human operator in its workspace on the basis of the information coming from various sensors, like Safety Eye, and possibly Kinect and/or Laser Range Finders. A promising approach for reactive task adaptation has been proposed in [38], where a distributed distance sensor is adopted and integrated within the robot controller to allow safe and task consistent human-robot interaction.…”