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Robot Motion Path Adjustment Based On Multiple Sensor Recognition Of A Moving Human/Object

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Conference

2007 Annual Conference & Exposition

Location

Honolulu, Hawaii

Publication Date

June 24, 2007

Start Date

June 24, 2007

End Date

June 27, 2007

ISSN

2153-5965

Conference Session

Electromechanical and Manufacturing Curriculum

Tagged Division

Engineering Technology

Page Count

2

Page Numbers

12.1251.1 - 12.1251.2

Permanent URL

https://peer.asee.org/3025

Download Count

26

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Paper Authors

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Pavel Ikonomov Western Michigan University

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Alamgir Choudhury Western Michigan University

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Dr. Pavel Ikonomov, Asst. professor, Mechanical and Industrial & Manufacturing Engineering Departments, research interests include CAD/CAM, robotics, virtual reality systems simulation and modeling. He has more than 23 years of industrial and academic experience including 13 years in Japan. Focused interests are in the area of sensors, vision, and computing systems. He has taught courses in 3-dimensional modeling and virtual reality, CAD, CAM, manufacturing system integration. He also was at NIST leading Virtual Reality simulation for assembly and has been working on application of VR for Nanoassembly optical tweezers project.

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Jorge Rodriguez Western Michigan University

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Sam Ramrattan Western Michigan University

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Abstract
NOTE: The first page of text has been automatically extracted and included below in lieu of an abstract

Title of the Paper: ROBOT MOTION PATH ADJUSTMENT BASED ON MULTIPLE SENSOR RECOGNITION OF MOVING HUMAN/OBJECT Abstract

This study proposes a solution to provide expansion of the currently limited workspace between humans and robots and other similar automation. The robot shall be able to detect and recognize moving human or object in the unknown environment using different sensors. Human or object is detected and recognized by several sensors when enters in the predefined area close to the robot. The collected data is plotted and a point cloud of the human is formed. From the point cloud a complete 3D model surface of the human is built. Further, when human movements are considered, 3D space motion envelopes are constructed. Those envelopes’ intersections with robot motion envelope, defined from a pre- programmed path, can provide safe solution. With this comprehensive information of the sensors, robot can react to the human or object motion and can modify its path to avoid collision and behavior accordingly.

Ikonomov, P., & Choudhury, A., & Rodriguez, J., & Ramrattan, S. (2007, June), Robot Motion Path Adjustment Based On Multiple Sensor Recognition Of A Moving Human/Object Paper presented at 2007 Annual Conference & Exposition, Honolulu, Hawaii. https://peer.asee.org/3025

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