Collision avoidance system with obstacles and humans to collaborative robots arms based on RGB-D data

Brito, Thadeu; Lima, José; Costa, Pedro; Matellán, Vicente; Braun, João

Publication

Collision avoidance system with obstacles and humans to collaborative robots arms based on RGB-D data

2020Conference paper

dc.contributor.author	Brito, Thadeu
dc.contributor.author	Lima, José
dc.contributor.author	Costa, Pedro
dc.contributor.author	Matellán, Vicente
dc.contributor.author	Braun, João
dc.date.accessioned	2020-03-13T17:07:46Z
dc.date.available	2020-03-13T17:07:46Z
dc.date.issued	2020
dc.description.abstract	The collaboration between humans and machines, where humans can share the same work environment without safety equipment due to the collision avoidance characteristic is one of the research topics for the Industry 4.0. This work proposes a system that acquires the space of the environment through an RGB-Depth sensor, verifies the free spaces in the created Point Cloud and executes the trajectory of the collaborative manipulator avoiding collisions. It is demonstrated a simulated environment before the system in real situations, in which the movements of pick-and-place tasks are defined, diverting from virtual obstacles with the RGB-Depth sensor. It is possible to apply this system in real situations with obstacles and humans, due to the results obtained in the simulation. The basic structure of the system is supported by the ROS software, in particular, the Movelt! and Rviz. These tools serve both for simulations and for real applications. The obtained results allow to validate the system using the algorithms PRM and RRT, chosen for being commonly used in the field of robot path planning.	pt_PT
dc.description.sponsorship	This work has been partially funded by Junta de Castilla y León and FEDER funds, under Research Grant No. LE028P17 and by "Ministerio de Ciencia, Innovación y Universidades" of the Kingdom of Spain through grant RTI2018-100683- B-I00.	pt_PT
dc.description.version	info:eu-repo/semantics/publishedVersion	pt_PT
dc.identifier.citation	Brito, Thadeu; Lima, José; Costa, Pedro; Matellán, Vicente; Braun, João (2020). Collision avoidance system with obstacles and humans to collaborative robots arms based on RGB-D data. In 4th Iberian Robotics Conference, ROBOT 2019; Porto. p. 331-342. ISBN 978-3-030-35989-8
dc.identifier.doi	10.1007/978-3-030-35990-4_27	pt_PT
dc.identifier.isbn	978-3-030-35989-8
dc.identifier.uri	http://hdl.handle.net/10198/20991
dc.language.iso	eng	pt_PT
dc.peerreviewed	yes	pt_PT
dc.rights.uri	http://creativecommons.org/licenses/by-nc/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	Collision avoidance system with obstacles and humans to collaborative robots arms based on RGB-D data	pt_PT
dc.type	conference paper
dspace.entity.type	Publication
oaire.citation.endPage	342	pt_PT
oaire.citation.startPage	331	pt_PT
oaire.citation.volume	1092	pt_PT
person.familyName	Brito
person.familyName	Lima
person.familyName	Braun
person.givenName	Thadeu
person.givenName	José
person.givenName	João A.
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	BF13-D66B-7D08
person.identifier.orcid	0000-0002-5962-0517
person.identifier.orcid	0000-0001-7902-1207
person.identifier.orcid	0000-0003-0276-4314
person.identifier.rid	L-3370-2014
person.identifier.scopus-author-id	57200694948
person.identifier.scopus-author-id	55851941311
person.identifier.scopus-author-id	57211244317
rcaap.rights	openAccess	pt_PT
rcaap.type	conferenceObject	pt_PT
relation.isAuthorOfPublication	c8641c9a-a994-4ab2-836d-c758c0e44cc9
relation.isAuthorOfPublication	d88c2b2a-efc2-48ef-b1fd-1145475e0055
relation.isAuthorOfPublication	b8dfcbd7-1b89-48f3-afee-3e7d3f3c90d4
relation.isAuthorOfPublication.latestForDiscovery	c8641c9a-a994-4ab2-836d-c758c0e44cc9