{"title":"人机协作中机械手夹持器的内置360度分离监测","authors":"Urban B. Himmelsbach, T. Wendt","doi":"10.1109/IRC.2020.00031","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":232817,"journal":{"name":"2020 Fourth IEEE International Conference on Robotic Computing (IRC)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2020-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Built-In 360 Degree Separation Monitoring for Grippers on Robotic Manipulators in Human-Robot Collaboration\",\"authors\":\"Urban B. Himmelsbach, T. Wendt\",\"doi\":\"10.1109/IRC.2020.00031\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"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.\",\"PeriodicalId\":232817,\"journal\":{\"name\":\"2020 Fourth IEEE International Conference on Robotic Computing (IRC)\",\"volume\":\"31 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2020-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2020 Fourth IEEE International Conference on Robotic Computing (IRC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IRC.2020.00031\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 Fourth IEEE International Conference on Robotic Computing (IRC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IRC.2020.00031","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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.