Collaborative Robot

Abstract

Robots without additional sensors automatically stop when a collision is detected, which causes unneeded downtime and wear and tear on the installation. With the aid of the time-of-flight vision camera Kinect V2 along with ultrasonic distance sensor, a speed and separation monitoring system is examined in this paper. For continuous detection of human workers within a shared workspace, a Microsoft Kinect V2 vision camera is used along with Distance Ultrasonic sensor. It’s feasible to Calculate distances between all of Robot joints also along the Human worker with the aid of the joint angle information provided by the robot control. The robot’s velocity and acceleration values are then set to safe values after the shortest distance, which also happens to be the critical distance time, is identified. The safety of human-robot interaction can be improved by real-time object or human detection and Distance measurement and calculation, which can avoid the robot from collision with people or objects. With VREP software aid and the setup, the algorithm is tested in both a virtual and actual environment. Robot speed can be adjusted in accordance with the distance people enter a shared workspace by observing the human skeleton and object recognition.