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D5.3 Sensor adaption for UC#1, UC#3 tooling finished (Module#11) - ABSTRACT
In Sharework robots and human workers cooperate in a shared task. Whenever such interaction takes place, there is an inherent safety risk. In Sharework also non-safety-certified robots should be enabled to cooperate with human workers. This is a particular challenge when it comes to safety related features, as such robots may induce high pressure on the human body and potentially lead to significant health hazards.
This deliverable describes the work performed to enable human safety from a local standpoint. The robot cell will always be covered by two sensor systems: global and local. The local system will be activated, when the field of view of the global system is occluded. To allow dynamic and quick response if danger is imminent, we developed a method to subtract the background scene from the local sensor’s point cloud and to detect potentially secured field entries.
Based on the field entry, we compute the maximum velocity allowed, which is then forwarded to the robot trajectory planning. This method allows touchless safety and guarantees that the robot will stop before it can reach the human worker, provided the local sensor covers him/her. Due to the interaction with the global safety system, the tooling sensor adaption module establishes a redundant safety system that allows human-robot interaction with heavy-duty industrial robots without fences or similar divisive safety measures. All results of this task have been evaluated in simulation and in a lab scenario.