Abstract

This paper analyzes the problem of sensor-based collision detection for an industrial robotic manipulator. A method to perform collision tests based on images taken from several stationary cameras in the work cell is presented. The collision test works entirely based on the images, and does not construct a representation of the Cartesian space. It is shown how to perform a collision test for all possible robot configurations using only a single set of images taken simultaneously. At present, the workspaces of robots are clearly separated from human workspaces. This is a result of the safety requirements prescribed by guidelines such as [ISO10218]. For future applications, it is necessary for humans and robots