A Distributed Computing Real-Time Safety System of Collaborative Robot

  • Dawid Gradolewski Blekinge Institute of Technology,
  • Dawid Maslowski Intema Sp. z o.o., Siennicka 25a, 80-758, Gdansk, Poland
  • Damian Dziak Institute of Applied Signal Processing, Blekinge Institute of Technology, Blekinge Institute of Technology,
  • Bartosz Jachimczyk Institute of Applied Signal Processing, Blekinge Institute of Technology,
  • Siva Teja Mundlamuri Institute of Applied Signal Processing, Blekinge Institute of Technology,
  • Chandran G. Prakash Institute of Applied Signal Processing, Blekinge Institute of Technology,
  • Wlodek J. Kulesza Institute of Applied Signal Processing, Blekinge Institute of Technology,
Keywords: Artificial intelligence, Collaborative robots, Neural networks, Safety system

Abstract

Robotization has become common in modern factories due to its efficiency and cost-effectiveness. Lots of robots and manipulators share their workspaces with humans what could lead to hazardous situations causing health damage or even death. This article presents a real-time safety system applying the distributed computing paradigm for a collaborative robot. The system consists of detection/sensing modules connected with a server working as decision-making system. Each configurable sensing module pre-processes vision information and then sends to the server the images cropped to new objects extracted from a background. After identifying persons from the images, the decision-making system sends a request to the robot to perform pre-defined action. In the proposed solution, there are indicated three safety zones defined by three different actions on a robot motion. As identification method, state-of-the-art of Machine Learning algorithms, the Histogram of Oriented Gradients (HOG), Viola-Jones, and You Only Look Once (YOLO), have been examined and presented. The industrial environment tests indicated that YOLOv3 algorithm outperformed other solutions in terms of identification capabilities, false positive rate and maximum latency.

Published
2020-04-25
How to Cite
Gradolewski, D., Maslowski, D., Dziak, D., Jachimczyk, B., Mundlamuri, S. T., Prakash, C. G., & Kulesza, W. J. (2020). A Distributed Computing Real-Time Safety System of Collaborative Robot. Elektronika Ir Elektrotechnika, 26(2), 4-14. https://doi.org/10.5755/j01.eie.26.2.25757
Section
AUTOMATION, ROBOTICS

Funding data