2019/04/15 by Shitij Kumar, Kumar, Shitij, Sarthak Arora +3 · 1 citation
Computer Science · Medicine · Physics and Astronomy · #Advanced Optical Sensing Technologies #FOS: Computer and information sciences #Healthcare Technology and Patient Monitoring #Multiagent Systems (cs.MA) #Robotics (cs.RO) #Target Tracking and Data Fusion in Sensor Networks
paper · pdf · doi:10.48550/arxiv.1904.07379
openalex publication_date 2019/04/15 · openalex created_date 2022/07/24 · openalex updated_date 2026/07/28
In this paper, a speed and separation monitoring (SSM) based safety\ncontroller using three time-of-flight ranging sensor arrays fastened to the\nrobot links, is implemented. Based on the human-robot minimum distance and\ntheir relative velocities, a controller output characterized by a modulating\nrobot operation speed is obtained. To avert self-avoidance, a self occlusion\ndetection method is implemented using ray-casting technique to filter out the\ndistance values associated with the robot-self and the restricted robot\nworkspace. For validation, the robot workspace is monitored using a motion\ncapture setup to create a digital twin of the human and robot. This setup is\nused to compare the safety,performance and productivity of various versions of\nSSM safety configurations based on minimum distance between human and robot\ncalculated using on-robot Time-of-Flight sensors, motion capture and a 2D\nscanning lidar.\n