Master Thesis - Hochschule Bonn-Rhein-Sieg

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Master Thesis Björn Ostermann page 6 of 126 5.2.1 Acquiring the background data ........................................................................ 66 5.2.1.1 Kalman Filter .......................................................................................................... 66 5.2.1.2 Gaussian blur .......................................................................................................... 67 5.2.2 Finding intrusions and filtering........................................................................ 70 5.2.2.1 Offset filter.............................................................................................................. 71 5.2.2.2 Spike filter............................................................................................................... 72 5.2.2.3 Plausibility filter ..................................................................................................... 73 5.2.3 Adding a virtual robot base .............................................................................. 75 5.2.4 Region growing................................................................................................ 76 5.2.4.1 Region growing by outlining and filling................................................................. 76 5.2.4.2 Region size filter..................................................................................................... 80 5.2.4.3 Distinguishing the robot from objects..................................................................... 81 5.3 Detecting collisions .................................................................................................. 82 5.4 Robot speed control................................................................................................. 83 5.5 Robot path planning................................................................................................ 86 5.5.1 Calculating the distance between the current pose and the goal pose.............. 87 5.5.2 Transformation of coordinate systems ............................................................. 87 5.5.3 Determining the reachable space...................................................................... 91 5.5.4 Selection of significant part.............................................................................. 93 5.5.5 Calculating the shortest evasion path............................................................... 96 6 Evaluating the safety of the system......................................................... 100 6.1 Regulations............................................................................................................. 100 6.1.1 Machinery Directive 2006/42/EC .................................................................. 101 6.2 Standards ............................................................................................................... 102 6.2.1 Safety of machinery – Safety distances to prevent hazard zones being reached by upper and lower limbs EN ISO 13857:2008 (EN 294:1992).................... 103 6.2.2 Safety of machinery – The positioning of protective equipment in respect of approach speeds of parts of the human body EN 999:1998 .......................... 104 6.2.3 Safety of machinery – Safety-related parts of control systems – Part 1: General principles for design EN ISO 13849-1........................................................... 105 6.2.4 Robots for Industrial Environment – Safety requirements – Part 1: Robot EN 10218-1 .......................................................................................................... 107 6.3 Achieved safety ...................................................................................................... 108 6.4 Desired safety......................................................................................................... 113 6.5 Comparison of achieved and desired safety........................................................ 114 7 Conclusion and Outlook .......................................................................... 115 7.1 Conclusion.............................................................................................................. 115 7.2 Outlook................................................................................................................... 116 8 Bibliography.............................................................................................. 118 8.1 Paper on human robot interaction ...................................................................... 118 8.2 Paper on path planning algorithms with industrial joint arm robots.............. 120 8.3 Paper on filter algorithms..................................................................................... 120 8.4 Paper on XML commands used to control robots ............................................. 120
Master Thesis Björn Ostermann page 7 of 126 8.5 Internet................................................................................................................... 120 8.6 Books ...................................................................................................................... 121 8.7 Lecture Slides......................................................................................................... 121 8.8 Laws and Regulations ........................................................................................... 121 8.9 Internal Documents............................................................................................... 122 9 List of Figures ........................................................................................... 123 10 List of Equations....................................................................................... 126
Page 1 and 2: Master Thesis ”Industrial jointed
Page 3 and 4: Statutory Declaration Master Thesis
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Master Thesis - Hochschule Bonn-Rhein-Sieg

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