Trajectory generation algorithm for safe human-robot collaboration based on multiple depth sensor measurements

• Published in: Mechatronics (Oxford) Vol. 55; pp. 267 - 281
• Main Authors: Ragaglia, Matteo, Zanchettin, Andrea Maria, Rocco, Paolo
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.11.2018
• Subjects: Depth sensors; Human-robot collaboration; Motion tracking; Safety; Trajectory generation; Trajectory generation; Depth sensors; Safety; Motion tracking; Human-robot collaboration

Computing and modifying in real-time the trajectory of an industrial robot involved in a Human-Robot Collaboration (HRC) scenario is a challenging problem, mainly because of two conflicting requirements: ensuring the human worker’s safety and completing the task assigned to the robot. This paper pro...