Safe Obstacle Avoidance for Industrial Robot Working Without Fences (Contributo in atti di convegno)

Type

• Contributo in atti di convegno (Classe)
• Prodotto della ricerca (Classe)

Label

• Safe Obstacle Avoidance for Industrial Robot Working Without Fences (Contributo in atti di convegno) (literal)

Anno

• 2009-01-01T00:00:00+01:00 (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#doi

• 10.1109/IROS.2009.5353980 (literal)

Alternative label

• Pedrocchi, N.; Malosio, M.; Molinari Tosatti, L. (2009)
  Safe Obstacle Avoidance for Industrial Robot Working Without Fences
  in Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, St. Louis, MO, USA, 10-15 Oct. 2009
  (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#autori

• Pedrocchi, N.; Malosio, M.; Molinari Tosatti, L. (literal)

Pagina inizio

• 3435 (literal)

Pagina fine

• 3440 (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#titoloVolume

• Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on (literal)

Rivista

• Proceedings (Rivista)

Note

• ISI Web of Science (WOS) (literal)
• Google Scholar (literal)
• Scopu (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#affiliazioni

• ITIA-CNR (literal)

Titolo

• Safe Obstacle Avoidance for Industrial Robot Working Without Fences (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#isbn

• 978-1-4244-3803-7 (literal)

Abstract

• Until now, the presence of fences is a technological barrier for the adoption of robots in small medium enterprises (SME). The work deals with the definition of an intrinsically safe algorithm to avoid collisions between an industrial manipulator and obstacles in its workspace (Standard ISO 10218-1). The suggested strategy aims to offer an industrial solution to the problem: an off-line analysis of the workspace is performed to have an exhaustive and intrinsically description of the static obstacles and a safe spatial grid of ¿pass-through points¿ is calculated; an on-line algorithm, based on an enhanced artificial potential field evaluates the most suitable points to avoid collisions against obstacles and perform a realtime replanning the path of the robot. A Matlab toolbox that elaborates STL CAD files has been developed to obtain a full description of the workcell, and the avoidance algorithm has been designed and implemented in a standard industrial controller. Various experimental results are reported by using a COMAU NS16 arm manipulator. (literal)

Prodotto di

• Macchine, robot e servizi innovativi customer oriented (SP.P03.004.001) (Modulo)

Autore CNR

• NICOLA PEDROCCHI (Persona)
• MATTEO MALOSIO (Unità di personale interno)
• LORENZO MOLINARI TOSATTI (Persona)

Incoming links:

Autore CNR di

• LORENZO MOLINARI TOSATTI (Persona)
• MATTEO MALOSIO (Unità di personale interno)
• NICOLA PEDROCCHI (Persona)

Prodotto

• Macchine, robot e servizi innovativi customer oriented (SP.P03.004.001) (Modulo)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#rivistaDi

• Proceedings (Rivista)