Design of ANTI-Collision System for Robotics

Abstract

This paper deals with the solving of collision detection in area of robotics. Collisions in robotics can cause damaging of robotic device, manipulated objects or in the worst case also the death of human. This is the reason why collision detection and collision avoidance is very important task and nowadays also the modern research is focused on finding of appropriate solving methods and tools. In the paper is described the theoretical introduction, practical solution and also real application.

The Calculation of Inverse Kinematics for 6DOF Serial Robot

“…The position and orientation of a robot's end-effector are derived from the joint positions by means of a geometric model of the robot arm. For serial robots, the mapping from joint positions to end-effector pose is easy whereas the inverse mapping is more difficult [3]. Therefore, most industrial robots have special designs that reduce the complexity of the inverse mapping.…”

Utilisation of Kinect Sensors for the Design of a Human-Robot Collaborative Workcell

“…The result safety level of a collaborative robotized work-cell is given by used safety elements and the way of their controlling [3]. Design of collaborative robotized workcell requires an utilisation of innovative technologies consisting of functions that allow a robot to sense a position of objects in its surroundings in real time [5,17,18]. The different types of 3D camera systems are used for examining a position and identification of objects freely moving in 3D space in the area of robotic systems [1,6].…”