Master Thesis - Hochschule Bonn-Rhein-Sieg

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Abstract Master Thesis Björn Ostermann page 4 of 126 Most industrial robots used today work behind fences. Even in those cases where the fences are substituted by electro sensitive protective equipment (ESPE), the position of the separation between human’s and robot’s workspace is invariable. This work presents an integrated solution that allows flexible human-robot workspace separation. The algorithms, responsible for maintaining the separation, are based on the tracking of objects that enter the workspace. These algorithms are divided into proximity monitoring and path planning. The demonstrator, developed in this work, consists of a 3D Camera, an industrial jointed arm robot and a desktop computer. The main part of this work focuses on the algorithms that evaluate the collected data and compute a collision free path for the robot. A software interface has been developed, that finds intrusions in the robot’s vicinity and changes the robot’s path accordingly. It is also shown, which integration level has been reached and which problems could not be covered in the course of this project. The applicability of such a system in praxis is discussed, depending on the current safety standards and available technology.
Contents Master Thesis Björn Ostermann page 5 of 126 1 Introduction .................................................................................................. 8 1.1 Problem Formulation................................................................................................ 8 1.2 Task Description........................................................................................................ 9 2 Overview on human-robot collaboration................................................. 10 2.1 State of the art ......................................................................................................... 10 2.2 State of science – Related Work............................................................................. 11 2.2.1 Morpha ............................................................................................................. 12 2.2.2 Phriends............................................................................................................ 13 2.2.3 Simero .............................................................................................................. 13 2.3 Overview of the project at the BGIA..................................................................... 14 2.3.1 Path planning approach .................................................................................... 14 2.3.2 Necessary algorithms and features................................................................... 17 3 Description of the hard- and software...................................................... 19 3.1 Jointed Arm Robot Reis RV30-16 ......................................................................... 21 3.2 3D Camera Mesa Swissranger ............................................................................... 25 3.3 Workspace................................................................................................................ 28 3.4 MS Visual Studio..................................................................................................... 29 3.5 Robot remote control language.............................................................................. 30 3.6 Control hierarchy.................................................................................................... 31 4 Overall evading concept............................................................................. 33 4.1 Tasks hierarchy ....................................................................................................... 33 4.2 Graphical User Interface (GUI)............................................................................. 35 4.3 Camera control thread............................................................................................ 36 4.3.1 Intensity and distance depiction ....................................................................... 37 4.3.2 Background acquisition.................................................................................... 39 4.3.3 Adjusting offset and intrusion filter ................................................................. 40 4.3.4 Region growing and reachable space computation.......................................... 43 4.3.5 Determining the relations of the coordinate systems of robot and camera ...... 46 4.4 Path planning control.............................................................................................. 49 4.4.1 Basic work routine ........................................................................................... 50 4.4.2 Speed control and object avoidance................................................................. 51 4.4.3 Collision reset................................................................................................... 53 4.5 Robot control ........................................................................................................... 54 4.6 Exchange of information between tasks................................................................ 56 5 Algorithms for robotic evasion.................................................................. 59 5.1 Depicting the acquired information....................................................................... 59 5.1.1 Histogram equalization – improving the grey scale values.............................. 60 5.1.2 Converting distance to colour .......................................................................... 64 5.2 Finding and identifying intrusions in the workspace........................................... 65
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9. List of Figures Master Thesis Bj
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9. List of Figures Master Thesis Bj
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Master Thesis - Hochschule Bonn-Rhein-Sieg

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