Experimental Evaluation of Advanced Sensor-Based Supervision and Work Cell Integration Strategies - EXECELL -

  • Christian VogelEmail author
  • Christoph Walter
  • Norbert Elkmann
Conference paper
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 94)


This paper presents the application of a novel projection-based safety system for ensuring hard safety in human-robot collaboration. We adapted the proposed sensor system to incorporate the joint positions of a collaborative robot, thus offering the opportunity to establish minimal and well-shaped safety spaces around the robot at any time. In this contribution we explain in detail main challenges and their solutions for generating and monitoring such safety spaces. Furthermore, we build up a collaborative workplace and evaluate the sensor system concerning its behavior and detection capabilities under operational conditions.


Human-Robot Collaboration Collision Avoidance Safety 


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Christian Vogel
    • 1
    Email author
  • Christoph Walter
    • 1
  • Norbert Elkmann
    • 1
  1. 1.Fraunhofer Institute for Factory Operation and Automation IFFMagdeburgGermany

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