Publicação
Dynamic collision avoidance system for a manipulator based on RGB-D data
| Resumo: | The new paradigms of Industry 4.0 demand the collabora- tion between robot and humans. They could help and collaborate each other without any additional safety unlike other manipulators. The robot should have the ability of acquire the environment and plan (or re-plan) on-the- y the movement avoiding the obstacles and people. This paper proposes a system that acquires the environment space, based on a kinect sensor, performs the path planning of a UR5 manipulator for pick and place tasks while avoiding the objects, based on the point cloud from kinect. Results allow to validate the proposed system. |
|---|---|
| Autores principais: | Brito, Thadeu |
| Outros Autores: | Lima, José; Costa, Pedro; Piardi, Luis |
| Assunto: | Collaborative robots Manipulator path planning Collision avoidance RGB-D |
| Ano: | 2018 |
| 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_ | 1867172706544254976 |
|---|---|
| author | Brito, Thadeu |
| author2 | Lima, José Costa, Pedro Piardi, Luis |
| author2_role | author author author |
| author_facet | Brito, Thadeu Lima, José Costa, Pedro Piardi, Luis |
| 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\":\"Piardi, Luis\",\"Person.identifier.orcid\":\"0000-0003-1627-8210\"}] |
| datacite.contributors.contributor.contributorName.fl_str_mv | Biblioteca Digital do IPB |
| datacite.creators.creator.creatorName.fl_str_mv | Brito, Thadeu Lima, José Costa, Pedro Piardi, Luis |
| datacite.date.Accepted.fl_str_mv | 2018-01-01T00:00:00Z |
| datacite.date.available.fl_str_mv | 2018-03-12T15:24:12Z |
| datacite.date.embargoed.fl_str_mv | 2018-03-12T15:24:12Z |
| 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 | Dynamic collision avoidance system for a manipulator 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 Piardi, Luis |
| dc.date.Accepted.fl_str_mv | 2018-01-01T00:00:00Z |
| dc.date.available.fl_str_mv | 2018-03-12T15:24:12Z |
| dc.date.embargoed.fl_str_mv | 2018-03-12T15:24:12Z |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | http://hdl.handle.net/10198/16265 |
| dc.language.none.fl_str_mv | eng |
| dc.rights.cclincense.fl_str_mv | http://creativecommons.org/licenses/by/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 | Dynamic collision avoidance system for a manipulator based on RGB-D data |
| dc.type.none.fl_str_mv | http://purl.org/coar/resource_type/c_5794 |
| description | The new paradigms of Industry 4.0 demand the collabora- tion between robot and humans. They could help and collaborate each other without any additional safety unlike other manipulators. The robot should have the ability of acquire the environment and plan (or re-plan) on-the- y the movement avoiding the obstacles and people. This paper proposes a system that acquires the environment space, based on a kinect sensor, performs the path planning of a UR5 manipulator for pick and place tasks while avoiding the objects, based on the point cloud from kinect. Results allow to validate the proposed system. |
| dirty | 0 |
| eu_rights_str_mv | openAccess |
| format | conferencePaper |
| fulltext.url.fl_str_mv | https://bibliotecadigital.ipb.pt/bitstreams/511df261-8ab5-4fd8-bbf1-980959275125/download |
| id | ipb_cf55ade9a9912cbb40df8289c8a4710a |
| identifier.url.fl_str_mv | http://hdl.handle.net/10198/16265 |
| 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:10198/16265 |
| 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 Piardi, Luis Piardi, Luis https://www.ciencia-id.pt/C51A-82DB-016F C51A-82DB-016F http://orcid.org/0000-0003-1627-8210 0000-0003-1627-8210 |
| publishDate | 2018 |
| reponame_str | Biblioteca Digital do IPB |
| repository_id_str | urn:repositoryAcronym:ipb |
| service_str_mv | urn:repositoryAcronym:ipb |
| spelling | engpt_PTThe new paradigms of Industry 4.0 demand the collabora- tion between robot and humans. They could help and collaborate each other without any additional safety unlike other manipulators. The robot should have the ability of acquire the environment and plan (or re-plan) on-the- y the movement avoiding the obstacles and people. This paper proposes a system that acquires the environment space, based on a kinect sensor, performs the path planning of a UR5 manipulator for pick and place tasks while avoiding the objects, based on the point cloud from kinect. Results allow to validate the proposed system.application/pdfpt_PTDynamic collision avoidance system for a manipulator 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, PedroPersonalPiardi, LuisDSpacehttp://dspace.org/items/643e9664-ec9b-4b2f-b93c-6f3f8335fd61DSpacehttp://dspace.org/items/643e9664-ec9b-4b2f-b93c-6f3f8335fd61PiardiLuísCiência IDhttps://www.ciencia-id.ptC51A-82DB-016FORCIDhttp://orcid.org0000-0003-1627-8210HostingInstitutionOrganizationalBiblioteca Digital do IPBe-mailmailto:dspace@ipb.ptdspace@ipb.ptDOIIsPartOf10.1007/978-3-319-70836-2_532018-03-12T15:24:12Z20182018-01-01T00:00:00ZHandlehttp://hdl.handle.net/10198/16265http://purl.org/coar/access_right/c_abf2open accessCollaborative robotsManipulator path planningCollision avoidanceRGB-D2718772 bytesother research producthttp://purl.org/coar/resource_type/c_5794conference paper2018http://creativecommons.org/licenses/by/4.0/http://purl.org/coar/access_right/c_abf2application/pdffulltexthttps://bibliotecadigital.ipb.pt/bitstreams/511df261-8ab5-4fd8-bbf1-980959275125/downloadAdvances in Intelligent Systems and Computing694643654 |
| spellingShingle | Dynamic collision avoidance system for a manipulator 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 | Dynamic collision avoidance system for a manipulator based on RGB-D data |
| title_full | Dynamic collision avoidance system for a manipulator based on RGB-D data |
| title_fullStr | Dynamic collision avoidance system for a manipulator based on RGB-D data |
| title_full_unstemmed | Dynamic collision avoidance system for a manipulator based on RGB-D data |
| title_short | Dynamic collision avoidance system for a manipulator based on RGB-D data |
| title_sort | Dynamic collision avoidance system for a manipulator 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/10198/16265 |
| visible | 1 |