Zusammenfassung
In future factories, new potentials rise with the possibility of direct interaction between humans and robots. Thereby the safety of human workers while collaborating with machines is of utmost importance. This contribution focusses on safety aspects arising by the end effector for handling applications. Presented is an approach to perceive the environment by an integrated LiDAR system to prevent possible collisions by alternating the trajectory from the endeffectors perspective. Several different sensor systems are discussed and evaluated before the chosen design is examined. Furthermore, two different methods to ensure a safe distance between human, workpiece and gripper are evaluated. Accordingly, a suitable control architecture for the guidance of the robot through the end effector is presented.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Literatur
Bauer W, Bender M, Braun M et al. (2016) Studie: Leichtbauroboter in der manuellen Montage - Einfach einfach machen, Stuttgart
Weitschat R, Vogel J, Lantermann S et al. End-Effector Airbags to Accelerate Human-Robot Collaboration. In: IEEE International Conference on Robotics and Automation (ICRA), May 29-June 3, 2017, Singapore : ICRA 2017
Pérez L, Rodríguez Í, Rodríguez N et al. (2016) Robot Guidance Using Machine Vision Techniques in Industrial Environments: A Comparative Review. Sensors (Basel) 16(3). https://doi.org/10.3390/s16030335
Cypress Semiconductor Corp. (2016) Proximity Sensing with CapSense. http://www.cypress.com/file/46741/download
SCHUNK GmbH & Co. KG Smarte Hände für die Mensch-Roboter-Kollaboration. https://schunk.com/de_de/aktuell/highlights/markt-technik/article/3068-smarte-haende-fuer-die-mensch-roboter-kollaboration/. Accessed 26 Oct 2018
Ciupek M (2016) Roboter sicher einsetzen. https://www.vdi-nachrichten.com/Technik/Roboter-sicher-einsetzen
Karlsruher Institut für Technologie (2018) TNS – taktiler Näherungssensor: Multimodale Sensorik für intelligente Industrieroboter. https://www.sek.kit.edu/downloads/Datenblatt_MRK-Demo_DE_p.pdf
Wiest T, Vollmuth J Ultraschall-Lösung schützt Anwender bei MRKApplikationen. https://www.konstruktionspraxis.vogel.de/ultraschall-loesungschuetzt-anwender-bei-mrk-applikationen-a-598322/index2.html
Hellmann C (2016) Entwicklung und Konzeption eines sicheren und intelligenten Greifers für Mensch-Roboter-Kollaborationssysteme. Masterarbeit, Karlsruher Institut für Technologie
Wolf A, Schunk H (2016) Greifer in Bewegung: Faszination der Automatisierung von Handhabungsaufgaben, 2nd edn. Carl Hanser Verlag GmbH & Co. KG
Haun M (2013) Springer 2013 Handbuch Robotik: Programmieren und Einsatz intelligenter Roboter, 2nd edn. Springer-Verlag Berlin Heidelberg
Krogh BH, Thorpe CE (1986) Integrated path planning and dynamic steering control for autonomous vehicles. Proceedings. 1986 IEEE International Conference on Robotics and Automation: 1664–1669. https://doi.org/10.1109/robot.1986.1087444
Author information
Authors and Affiliations
Corresponding authors
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer-Verlag GmbH Deutschland, ein Teil von Springer Nature
About this paper
Cite this paper
Schäfer, M., Büsching, M., Coutandin, S., Fleischer, J. (2019). Safe Human Robot Collision Avoidance with an End-Effector integrated 360° LiDAR System. In: Schüppstuhl, T., Tracht, K., Roßmann, J. (eds) Tagungsband des 4. Kongresses Montage Handhabung Industrieroboter. Springer Vieweg, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-59317-2_14
Download citation
DOI: https://doi.org/10.1007/978-3-662-59317-2_14
Published:
Publisher Name: Springer Vieweg, Berlin, Heidelberg
Print ISBN: 978-3-662-59316-5
Online ISBN: 978-3-662-59317-2
eBook Packages: Computer Science and Engineering (German Language)