Publication
Dynamic collision avoidance system for a manipulator based on RGB-D data
| dc.contributor.author | Brito, Thadeu | |
| dc.contributor.author | Lima, José | |
| dc.contributor.author | Costa, Pedro | |
| dc.contributor.author | Piardi, Luis | |
| dc.date.accessioned | 2018-03-12T15:24:12Z | |
| dc.date.available | 2018-03-12T15:24:12Z | |
| dc.date.issued | 2018 | |
| dc.description.abstract | 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. | pt_PT |
| dc.description.sponsorship | Project ”TEC4Growth - Pervasive Intelligence, Enhancers and Proofs of Concept with Industrial Impact/NORTE-01-0145-FEDER-000020” is financed by the North Portugal Regional Operational. Programme (NORTE 2020), under the PORTUGAL 2020 Partnership Agreement, and through the European Regional Development Fund (ERDF). This work is also financed by the ERDF – European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation -COMPETE 2020 Programme within project POCI-01-0145-FEDER-006961, and by National Funds through the FCT – Fundação para a Ciência e a Tecnologia (Portuguese Foundation for Science and Technology) as part of project UID/EEA/50014/2013. | |
| dc.description.version | info:eu-repo/semantics/publishedVersion | pt_PT |
| dc.identifier.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 | pt_PT |
| dc.identifier.doi | 10.1007/978-3-319-70836-2_53 | pt_PT |
| dc.identifier.uri | http://hdl.handle.net/10198/16265 | |
| dc.language.iso | eng | pt_PT |
| dc.peerreviewed | yes | pt_PT |
| dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | pt_PT |
| dc.subject | Collaborative robots | pt_PT |
| dc.subject | Manipulator path planning | pt_PT |
| dc.subject | Collision avoidance | pt_PT |
| dc.subject | RGB-D | pt_PT |
| dc.title | Dynamic collision avoidance system for a manipulator based on RGB-D data | pt_PT |
| dc.type | conference object | |
| dspace.entity.type | Publication | |
| oaire.awardURI | info:eu-repo/grantAgreement/FCT/5876/UID%2FEEA%2F50014%2F2013/PT | |
| oaire.citation.endPage | 654 | pt_PT |
| oaire.citation.startPage | 643 | pt_PT |
| oaire.citation.title | Advances in Intelligent Systems and Computing | pt_PT |
| oaire.citation.volume | 694 | pt_PT |
| oaire.fundingStream | 5876 | |
| person.familyName | Brito | |
| person.familyName | Lima | |
| person.familyName | Piardi | |
| person.givenName | Thadeu | |
| person.givenName | José | |
| person.givenName | Luís | |
| person.identifier | BjSISEAAAAAJ | |
| person.identifier | R-000-8GD | |
| person.identifier.ciencia-id | C911-A95D-712F | |
| person.identifier.ciencia-id | 6016-C902-86A9 | |
| person.identifier.ciencia-id | C51A-82DB-016F | |
| person.identifier.orcid | 0000-0002-5962-0517 | |
| person.identifier.orcid | 0000-0001-7902-1207 | |
| person.identifier.orcid | 0000-0003-1627-8210 | |
| person.identifier.rid | L-3370-2014 | |
| person.identifier.scopus-author-id | 57200694948 | |
| person.identifier.scopus-author-id | 55851941311 | |
| project.funder.identifier | http://doi.org/10.13039/501100001871 | |
| project.funder.name | Fundação para a Ciência e a Tecnologia | |
| rcaap.rights | restrictedAccess | pt_PT |
| rcaap.type | conferenceObject | pt_PT |
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