Publicação
Collision avoidance system with obstacles and humans to collaborative robots arms based on RGB-D data
| Resumo: | 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. |
|---|---|
| Autores principais: | Brito, Thadeu |
| Outros Autores: | Lima, José; Costa, Pedro; Matellán, Vicente; Braun, João |
| Assunto: | Collaborative robots Manipulator path planning Collision avoidance RGB-D |
| Ano: | 2020 |
| País: | Portugal |
| Tipo de documento: | comunicação em conferência |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | Instituto Politécnico de Bragança |
| Idioma: | inglês |
| Origem: | Biblioteca Digital do IPB |
| _version_ | 1867172855420026880 |
|---|---|
| author | Brito, Thadeu |
| author2 | Lima, José Costa, Pedro Matellán, Vicente Braun, João |
| author2_role | author author author author |
| author_facet | Brito, Thadeu Lima, José Costa, Pedro Matellán, Vicente Braun, João |
| author_role | author |
| contributor_name_str_mv | Biblioteca Digital do IPB |
| country_str | PT |
| creators_json_txt | [{\"Person.name\":\"Brito, Thadeu\",\"Person.identifier.orcid\":\"0000-0002-5962-0517\"},{\"Person.name\":\"Lima, José\",\"Person.identifier.orcid\":\"0000-0001-7902-1207\"},{\"Person.name\":\"Costa, Pedro\"},{\"Person.name\":\"Matellán, Vicente\"},{\"Person.name\":\"Braun, João\",\"Person.identifier.orcid\":\"0000-0003-0276-4314\"}] |
| datacite.contributors.contributor.contributorName.fl_str_mv | Biblioteca Digital do IPB |
| datacite.creators.creator.creatorName.fl_str_mv | Brito, Thadeu Lima, José Costa, Pedro Matellán, Vicente Braun, João |
| datacite.date.Accepted.fl_str_mv | 2020-01-01T00:00:00Z |
| datacite.date.available.fl_str_mv | 2020-03-13T17:07:46Z |
| datacite.date.embargoed.fl_str_mv | 2020-03-13T17:07:46Z |
| datacite.rights.fl_str_mv | http://purl.org/coar/access_right/c_abf2 |
| datacite.subjects.subject.fl_str_mv | Collaborative robots Manipulator path planning Collision avoidance RGB-D |
| datacite.titles.title.fl_str_mv | Collision avoidance system with obstacles and humans to collaborative robots arms based on RGB-D data |
| dc.contributor.none.fl_str_mv | Biblioteca Digital do IPB |
| dc.creator.none.fl_str_mv | Brito, Thadeu Lima, José Costa, Pedro Matellán, Vicente Braun, João |
| dc.date.Accepted.fl_str_mv | 2020-01-01T00:00:00Z |
| dc.date.available.fl_str_mv | 2020-03-13T17:07:46Z |
| dc.date.embargoed.fl_str_mv | 2020-03-13T17:07:46Z |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | http://hdl.handle.net/10198/20991 |
| dc.language.none.fl_str_mv | eng |
| dc.rights.cclincense.fl_str_mv | http://creativecommons.org/licenses/by-nc/4.0/ |
| dc.rights.none.fl_str_mv | http://purl.org/coar/access_right/c_abf2 |
| dc.subject.none.fl_str_mv | Collaborative robots Manipulator path planning Collision avoidance RGB-D |
| dc.title.fl_str_mv | Collision avoidance system with obstacles and humans to collaborative robots arms based on RGB-D data |
| dc.type.none.fl_str_mv | http://purl.org/coar/resource_type/c_5794 |
| description | 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. |
| dirty | 0 |
| eu_rights_str_mv | openAccess |
| format | conferencePaper |
| fulltext.url.fl_str_mv | https://bibliotecadigital.ipb.pt/bitstreams/d7fb9a45-3614-4c0a-b673-ebb8c96e8f39/download |
| id | ipb_4d5d4bc5b3fc11b71c31ad04bfb07f83 |
| identifier.url.fl_str_mv | http://hdl.handle.net/10198/20991 |
| instacron_str | ipb |
| institution | Instituto Politécnico de Bragança |
| instname_str | Instituto Politécnico de Bragança |
| language | eng |
| network_acronym_str | ipb |
| network_name_str | Biblioteca Digital do IPB |
| oai_identifier_str | oai:bibliotecadigital.ipb.pt:10198/20991 |
| organization_str_mv | urn:organizationAcronym:ipb |
| person_str_mv | Brito, Thadeu Brito, Thadeu https://www.ciencia-id.pt/C911-A95D-712F C911-A95D-712F http://orcid.org/0000-0002-5962-0517 0000-0002-5962-0517 Lima, José Lima, José https://www.ciencia-id.pt/6016-C902-86A9 6016-C902-86A9 http://orcid.org/0000-0001-7902-1207 0000-0001-7902-1207 Costa, Pedro Matellán, Vicente Braun, João Braun, João https://www.ciencia-id.pt/BF13-D66B-7D08 BF13-D66B-7D08 http://orcid.org/0000-0003-0276-4314 0000-0003-0276-4314 |
| publishDate | 2020 |
| reponame_str | Biblioteca Digital do IPB |
| repository_id_str | urn:repositoryAcronym:ipb |
| service_str_mv | urn:repositoryAcronym:ipb |
| spelling | engpt_PTThe 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.application/pdfpt_PTCollision avoidance system with obstacles and humans to collaborative robots arms based on RGB-D dataPersonalBrito, ThadeuDSpacehttp://dspace.org/items/c8641c9a-a994-4ab2-836d-c758c0e44cc9DSpacehttp://dspace.org/items/c8641c9a-a994-4ab2-836d-c758c0e44cc9BritoThadeuCiência IDhttps://www.ciencia-id.ptC911-A95D-712FORCIDhttp://orcid.org0000-0002-5962-0517Scopus Author IDhttps://www.scopus.com57200694948PersonalLima, JoséDSpacehttp://dspace.org/items/d88c2b2a-efc2-48ef-b1fd-1145475e0055DSpacehttp://dspace.org/items/d88c2b2a-efc2-48ef-b1fd-1145475e0055LimaJoséCiência IDhttps://www.ciencia-id.pt6016-C902-86A9ORCIDhttp://orcid.org0000-0001-7902-1207Researcher IDhttps://www.researcherid.comL-3370-2014Scopus Author IDhttps://www.scopus.com55851941311Costa, PedroMatellán, VicentePersonalBraun, JoãoDSpacehttp://dspace.org/items/b8dfcbd7-1b89-48f3-afee-3e7d3f3c90d4DSpacehttp://dspace.org/items/b8dfcbd7-1b89-48f3-afee-3e7d3f3c90d4BraunJoão A.Ciência IDhttps://www.ciencia-id.ptBF13-D66B-7D08ORCIDhttp://orcid.org0000-0003-0276-4314Scopus Author IDhttps://www.scopus.com57211244317HostingInstitutionOrganizationalBiblioteca Digital do IPBe-mailmailto:dspace@ipb.ptdspace@ipb.ptISBNIsPartOf978-3-030-35989-8DOIIsPartOf10.1007/978-3-030-35990-4_272020-03-13T17:07:46Z20202020-01-01T00:00:00ZHandlehttp://hdl.handle.net/10198/20991http://purl.org/coar/access_right/c_abf2open accessCollaborative robotsManipulator path planningCollision avoidanceRGB-D6608377 bytesother research producthttp://purl.org/coar/resource_type/c_5794conference paper2020http://creativecommons.org/licenses/by-nc/4.0/http://purl.org/coar/access_right/c_abf2application/pdffulltexthttps://bibliotecadigital.ipb.pt/bitstreams/d7fb9a45-3614-4c0a-b673-ebb8c96e8f39/download1092331342 |
| spellingShingle | Collision avoidance system with obstacles and humans to collaborative robots arms based on RGB-D data Brito, Thadeu Collaborative robots Manipulator path planning Collision avoidance RGB-D |
| status | SINGLETON |
| subject.fl_str_mv | Collaborative robots Manipulator path planning Collision avoidance RGB-D |
| title | Collision avoidance system with obstacles and humans to collaborative robots arms based on RGB-D data |
| title_full | Collision avoidance system with obstacles and humans to collaborative robots arms based on RGB-D data |
| title_fullStr | Collision avoidance system with obstacles and humans to collaborative robots arms based on RGB-D data |
| title_full_unstemmed | Collision avoidance system with obstacles and humans to collaborative robots arms based on RGB-D data |
| title_short | Collision avoidance system with obstacles and humans to collaborative robots arms based on RGB-D data |
| title_sort | Collision avoidance system with obstacles and humans to collaborative robots arms based on RGB-D data |
| topic | Collaborative robots Manipulator path planning Collision avoidance RGB-D |
| topic_facet | Collaborative robots Manipulator path planning Collision avoidance RGB-D |
| url | http://hdl.handle.net/10198/20991 |
| visible | 1 |