A Real-Time Reconfigurable Collision Avoidance System for Robot Manipulation

Castro, Mario di; Blanco Mulero, David; Ferre Pérez, Manuel y Masi, Alessandro (2017). A Real-Time Reconfigurable Collision Avoidance System for Robot Manipulation. En: "ICMRE 2017. 3rd International Conference on Mechatronics and Robotics Engineering", February 08 - 12, 2017, Paris, France. ISBN 978-1-4503-5280-2. pp. 6-10. https://doi.org/10.1145/3068796.3068800.

Descripción

Título: A Real-Time Reconfigurable Collision Avoidance System for Robot Manipulation
Autor/es:
  • Castro, Mario di
  • Blanco Mulero, David
  • Ferre Pérez, Manuel
  • Masi, Alessandro
Tipo de Documento: Ponencia en Congreso o Jornada (Artículo)
Título del Evento: ICMRE 2017. 3rd International Conference on Mechatronics and Robotics Engineering
Fechas del Evento: February 08 - 12, 2017
Lugar del Evento: Paris, France
Título del Libro: ICMRE 2017 Proceedings of the 3rd International Conference on Mechatronics and Robotics Engineering
Fecha: 2017
ISBN: 978-1-4503-5280-2
Materias:
Palabras Clave Informales: Robotics; Teleoperation; Artificial Intelligence; Anti-collision system, Collision Avoidance
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

Texto completo

[img] PDF (Document Portable Format) - Acceso permitido solamente a usuarios en el campus de la UPM - Se necesita un visor de ficheros PDF, como GSview, Xpdf o Adobe Acrobat Reader
Descargar (422kB)

Resumen

Intelligent robotic systems are becoming fundamental actors in industrial and hazardous facilities scenarios. Aiming to increase personnel safety and machine availability, robots can help perform repetitive and dangerous tasks which humans either prefer to avoid or are unable to do because of hazards, space constraints or the extreme environments in which they take place, such as outer space or radioactive experimental areas. Teleoperated robots need user friendly and safety tools to be safely operated in harsh environments where the intervention scenarios are unstructured and most of the time dangerous for human intervention. In many robotic interventions in harsh environments, a dual arms robotic system is needed to perform difficult task such as cutting, drilling etc. To ensure the safety of the robotic system and the machines to be tele-manipulated, as well as increasing the uptime of the plants, a real-time reconfigurable self-collision avoidance system coupled to a virtual augmented reality scenario is fundamental to help the operator during the intervention. In addition, it is important to provide to the operator a uniform control system, in order to not create confusion when several operations are performed using different robotic platforms. For this reason, it is vital that the self-collision avoidance system is adaptable to the current robot hardware and software configurations. In this paper, a novel reconfigurable collision avoidance system for robot manipulation running in real time is presented. The novelty of the proposed solution is the capability to be adaptable to different robots configuration and installation taking into account different parameters like the type and the number of robotic arms, as well as their orientation. The novel system is able to avoid collision not only within the robot itself, but it can avoid collision also with external unexpected objects. The structure of the novel solution is presented, as well as its validation in the CERN accelerators facilities.

Más información

ID de Registro: 51088
Identificador DC: http://oa.upm.es/51088/
Identificador OAI: oai:oa.upm.es:51088
Identificador DOI: 10.1145/3068796.3068800
URL Oficial: https://dl.acm.org/citation.cfm?doid=3068796.3068800
Depositado por: Memoria Investigacion
Depositado el: 07 Ago 2018 17:41
Ultima Modificación: 07 Ago 2018 17:41
  • GEO_UP4
  • Open Access
  • Open Access
  • Sherpa-Romeo
    Compruebe si la revista anglosajona en la que ha publicado un artículo permite también su publicación en abierto.
  • Dulcinea
    Compruebe si la revista española en la que ha publicado un artículo permite también su publicación en abierto.
  • Recolecta
  • InvestigaM
  • Observatorio I+D+i UPM
  • OpenCourseWare UPM