Workspace Registration and Collision Detection for Industrial Robotics Applications

TL;DR

This paper compares various sensors for capturing robotic workspaces, details the process from environment detection to collision environment creation, and demonstrates collision detection between robots and their surroundings.

Contribution

It provides a comprehensive comparison of sensors and a complete workflow for workspace registration and collision detection in industrial robotics.

Findings

Sensor performance varies in workspace detection accuracy

Workflow effectively identifies collision risks

Different sensors have distinct advantages for specific applications

Abstract

Motion planning for robotic manipulators relies on precise knowledge of the environment in order to be able to define restricted areas and to take collision objects into account. To capture the workspace, point clouds of the environment are acquired using various sensors. The collision objects are identified by region growing segmentation and VCCS algorithm. Subsequently the point clusters are approximated. The aim of the present paper is to compare different sensors, to illustrate the process from detection to the finished collision environment and to detect collisions between the robot and this environment.