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A Real-Time Reconfigurable Collision Avoidance System for Robot Manipulation

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 hazard...

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Detalles Bibliográficos
Autores principales: Di Castro, Mario, Blanco Mulero, David, Ferre, Manuel, Masi, Alessandro
Lenguaje:eng
Publicado: 2017
Materias:
Acceso en línea:https://dx.doi.org/10.1145/3068796.3068800
http://cds.cern.ch/record/2318771
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author Di Castro, Mario
Blanco Mulero, David
Ferre, Manuel
Masi, Alessandro
author_facet Di Castro, Mario
Blanco Mulero, David
Ferre, Manuel
Masi, Alessandro
author_sort Di Castro, Mario
collection CERN
description 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.
id oai-inspirehep.net-1670547
institution Organización Europea para la Investigación Nuclear
language eng
publishDate 2017
record_format invenio
spelling oai-inspirehep.net-16705472022-02-01T13:37:32Zdoi:10.1145/3068796.3068800http://cds.cern.ch/record/2318771engDi Castro, MarioBlanco Mulero, DavidFerre, ManuelMasi, AlessandroA Real-Time Reconfigurable Collision Avoidance System for Robot ManipulationComputing and ComputersDetectors and Experimental TechniquesEngineeringIntelligent 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.oai:inspirehep.net:16705472017
spellingShingle Computing and Computers
Detectors and Experimental Techniques
Engineering
Di Castro, Mario
Blanco Mulero, David
Ferre, Manuel
Masi, Alessandro
A Real-Time Reconfigurable Collision Avoidance System for Robot Manipulation
title A Real-Time Reconfigurable Collision Avoidance System for Robot Manipulation
title_full A Real-Time Reconfigurable Collision Avoidance System for Robot Manipulation
title_fullStr A Real-Time Reconfigurable Collision Avoidance System for Robot Manipulation
title_full_unstemmed A Real-Time Reconfigurable Collision Avoidance System for Robot Manipulation
title_short A Real-Time Reconfigurable Collision Avoidance System for Robot Manipulation
title_sort real-time reconfigurable collision avoidance system for robot manipulation
topic Computing and Computers
Detectors and Experimental Techniques
Engineering
url https://dx.doi.org/10.1145/3068796.3068800
http://cds.cern.ch/record/2318771
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