Authors:
Gautier Dumonteil
1
;
Guido Manfredi
2
;
Michel Devy
2
;
Ambroise Confetti
1
and
Daniel Sidobre
3
Affiliations:
1
Siemens Industry Software SAS, France
;
2
CNRS and LAAS, France
;
3
CNRS, LAAS and Univ. de Toulouse, France
Keyword(s):
Industrial Robotics, Cobot, Reactive Planning, Obstacle Detection, ROS Architecture.
Related
Ontology
Subjects/Areas/Topics:
Collective and Social Robots
;
Control and Supervision Systems
;
Informatics in Control, Automation and Robotics
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
A challenge for roboticists consist in promoting collaborative robotics for industrial applications, i.e. allowing
robots to be used close to humans, without barriers. Safety becomes the key issue. For manipulation tasks, a
part of the problem is solved using new arms like the KUKA LWR, able to physically detect a collision from
couple measurements on each joint. Nevertheless it is better to avoid collisions, overall if the obstacle is the
arm or the head of an operator. This paper describes how obstacles could be detected and avoided, using a
single Kinect sensor for the monitoring of the workspace and the reactive planner developped by the Blind
company for the the real-time selection of an avoidance trajectory. Experimental results are provided as a
proof that our dynamic obstacle avoidance strategy works properly.