Collaborative robot sensorization with 3D depth measurement system for collision avoidance

Human-Robot Collaboration (HRC) and Machine Vision are some of the most promising technologies of Industry 4.0. Collaborative robots are quickly gaining ground in the industrial network, due to their possibility of working side by side with humans, in a shared space, without physical barriers. However, the knowledge of the environment is required to adapt the robot motion and guarantee the operator safety. This paper presents a preliminary study for a bigger project regarding the implementation of a full obstacle avoidance strategy into a robotic system for industrial purposes. The system adopted consists of a vision system based on Intel Realsense cameras, an algorithm providing obstacle representation as elementary geometric shapes and an obstacle avoidance strategy used for the motion control of the robot. The continuous monitoring of the operators, objects and robots present in the workstation with the vision system ensures the stability and security of the system.