人机协作中机械手夹持器的内置360度分离监测

Urban B. Himmelsbach, T. Wendt
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引用次数: 1

摘要

高效的协作机器人应用需要结合速度和分离监测,以及功率和力限制操作。虽然大多数协作机器人都有用于功率和力限制操作的内置传感器,但没有一个具有用于速度和分离监控的内置传感器系统。本文提出了一种直接从机械手夹持器进行速度和分离监测的系统。它可以监测距离达3米的分离。我们使用单像素飞行时间传感器来测量抓手与垂直于抓手的下一个障碍物之间的分离距离。这是第一个能够直接从机器人的抓手测量距离达3米的系统。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Built-In 360 Degree Separation Monitoring for Grippers on Robotic Manipulators in Human-Robot Collaboration
Efficient collaborative robotic applications need a combination of speed and separation monitoring, and power and force limiting operations. While most collaborative robots have built-in sensors for power and force limiting operations, there are none with built-in sensor systems for speed and separation monitoring. This paper proposes a system for speed and separation monitoring directly from the gripper of the robot. It can monitor separation distances of up to three meters. We used single-pixel Time-of-Flight sensors to measure the separation distance between the gripper and the next obstacle perpendicular to it. This is the first system capable of measuring separation distances of up to three meters directly from the robot's gripper.
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