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Advisor(s)
Abstract(s)
The new paradigms of Industry 4.0 demand the collabora-
tion between robot and humans. They could help and collaborate each
other without any additional safety unlike other manipulators. The robot
should have the ability of acquire the environment and plan (or re-plan)
on-the-
y the movement avoiding the obstacles and people. This paper
proposes a system that acquires the environment space, based on a kinect
sensor, performs the path planning of a UR5 manipulator for pick and
place tasks while avoiding the objects, based on the point cloud from
kinect. Results allow to validate the proposed system.
Description
Keywords
Collaborative robots Manipulator path planning Collision avoidance RGB-D
Citation
Brito, Thadeu; Lima, José; Costa, Pedro; Piardi, Luis (2018). Dynamic collision avoidance system for a manipulator based on RGB-D data. In Kapprzyk, Janusz (Ed.) Advances in Intelligent Systems and Computing. London: Springer. 694, p. 643-654. ISBN 978-3-319-70836-2