Klaus Zauner, Andreas Müller, Hubert Gattringer, Josef El Dib,
"Workspace Registration and Collision Detection for Industrial Robotics Applications"
, in Innsbruck University Press: AIRoV ? The First Austrian Symposium on AI, Robotics, and Vision, 25.?27.3.2024, Innsbruck, 3-2024
Original Titel:
Workspace Registration and Collision Detection for Industrial Robotics Applications
Sprache des Titels:
Englisch
Original Buchtitel:
AIRoV ? The First Austrian Symposium on AI, Robotics, and Vision, 25.?27.3.2024, Innsbruck
Original Kurzfassung:
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.
Forschungs-