Filtern
Erscheinungsjahr
- 2002 (1)
Dokumenttyp
Sprache
- Englisch (1) (entfernen)
Volltext vorhanden
- ja (1)
Schlagworte
- Mensch-Roboter-Kooperation (1) (entfernen)
Fachbereich / Organisatorische Einheit
This paper analyzes the problem of sensor-based colli-sion detection for an industrial robotic manipulator. A method to perform collision tests based on images taken from several stationary cameras in the work cell is pre-sented. The collision test works entirely based on the im-ages, and does not construct a representation of the Carte-sian space. It is shown how to perform a collision test for all possible robot configurations using only a single set of images taken simultaneously.