The proliferation of cage-less robotic applications is justifying this research which proposes a method to process the output of safety sensors with the aim of maximising the productivity of the robot in a collaborative scenario. Particularly, the Speed and Separation Monitoring (SSM) strategy, which prescribes the robot to reduce its speed proportionally to the vicinity of the human, will be investigated. In state-of-the-art industrial implementations, SSM is implemented in a very conservative way, without exploiting the capabilities of modern sensing devices. This work proposes a methodology to improve the performance of SSM algorithms while dealing finite and quantised 2D cost-effective sensing capabilities. The strategy is verified experimentally as applied on a palletising application with a COMAU SMARTSix industrial robot, showing slightly improved performance with respect to standard practice.


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    Title :

    Human tracking from quantised sensors: An application to safe human–robot collaboration



    Publication date :

    2023-01-01



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



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