A projection-based sensor system for safe physical human-robot collaboration

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 and velocities 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 future collaborative workplace to demonstrate the practicability of the system under operational conditions.