Velocity control for safe robot guidance based on fused vision and force/torque data

IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems

Volumn , Issue , 2006, Pages 485-492

  Kuhn, Stefan ^a   Gecks, Thorsten ^a   Henrich, Dominik ^a  

^a UNIVERSITY OF BAYREUTH   (Germany)

Author keywords

Difference image method; Force torque sensor; Heterogeonous multisensor fusion; Human robot cooperation; Industrial robot; Vision; Workspace supervision

Indexed keywords

CAMERAS; HUMAN COMPUTER INTERACTION; IMAGE RECONSTRUCTION; INDUSTRIAL ROBOTS; SENSOR DATA FUSION; SENSORS; VELOCITY CONTROL;

DIFFERENCE IMAGE METHODS; FORCE TORQUE SENSORS; TORQUE SENSORS; WORKSPACE SUPERVISION;

ROBOTICS;

EID: 40949122004     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/MFI.2006.265623     Document Type: Conference Paper

References (15)

1. Baerveldt A.-J.: "Cooperation between Man and Robot: Interface and Safety" In: IEEE International Workshop on Robot and Human Communication, Tokyo, Japan, September 1 -3, 1992
2. Baeten J., Schutter J.D.: "Hybrid Vision/Force Controlat Corners in PlanarRobotic-Contour Following", IEEE/ASME Transactions on mechatronics, Vol. 7, No. 2, June 2002
3. Burghart C., Yigit S., Kerpa O., Osswald D., Woern H.: "Concept for Human Robot Co-operation Integrating Artificial Haptic Perception". Proceedings of IAS-7, Marina del Rey, USA, 03. 2002, p. 38-45.
4. Ebert D., Henrich D.: "Safe Human-Robot-Cooperation: Image-based collision detection for Industrial Robots" In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1826-1831, Lausanne, October 2 - 4, 2002
5. Ebert D.: "Bildbasierte Erzeugung kollisionsfreier Transferbewegungen für Industrieroboter" PhD Thesis, Informatics Faculty, University of Kaiserslautern, Germany, 2003
6. Geeks T., Henrich D.: "Human-robot cooperation: Safe Pick-and-Place Operations", 14th IEEE International Workshop on Robot and Human Interactive Communication,August 13-15, 2005, Nashville, Tennessee USA
7. Heiligensetzer P.: "Sichere Mensch-Roboter Kooperation durch Fusion haptischer und kapazitiver Sensorik", Dissertation, University of Karlsruhe, 2003
8. Heinzmann J., Zelinsky A.: "Building Human-Friendly Robot Systems", In: Proceedings of International Symposium of Robotics Research ISRR'99, Salt Lake City, USA, 9-12 October, 1999
9. Henrich D., Kuhn S.: "Modeling Intuitive Behavior for Safe Human/Robot Coexistence and Cooperation", In: IEEE International Conference on Robotics and Automation, Orlando, Florida, USA, 15-19 May 2006
10. Hosoda K., Igarashi K., Asada M.: "Adaptive Hybrid Control for Visual Servoing and Force Servoing in an Unknown Environment", IEEE Robotics and Automation Magazine, Vol.5, No.4, pp.39-43, 1998
11. Schulz O.: "Image-based 3D-surveillance in Human-Robot- Cooperation", In: Modern Trends in Manufacturing. Second International CAMT Conference, Wroclaw, Poland: Oficyna Wydawnicza Politechniki Wroclawskiej, 2003, 20-21 Feb. p.327-34
12. Som F.: "Sichere Steuerungstechnik für den OTS-Einsatz von Robotern", In: 4. Workshop für OTS-Systeme in der Robotik (Sichere Mensch-Roboter-Interaktion ohne trennende Schutzsysteme), Stuttgart, 2. Nov. 2005
13. th International Symposium on Robot Control, 1-3 September 2003, Wroclaw/Poland
14. Thiemermann S.: "Direkte Mensch-Roboter-Kooperation in der Kleinteilmontage mit einem SCARA-Roboter", Dissertation, University of Stuttgart, 2005
15. Xiao D., Ghosh B., Xi N., Tarn T.J.: "Sensor-Based Hybrid Position/Force Control of a Robot Manipulator in an Uncalibrated Environment" IEEE Transactions on control systems technology, Vol. 8, No. 4, July 2000