Active collision avoidance for human–robot collaboration driven by vision sensors

Abdullah Mohammed, Bernard Schimdt, Lihui Wang

Research output: Contribution to journalArticlepeer-review


Establishing safe human–robot collaboration is an essential factor for improving efficiency and flexibility in today’s manufacturing environment. Targeting safety in human–robot collaboration, this paper reports a novel approach for effective online collision avoidance in an augmented environment, where virtual three-dimensional (3D) models of robots and real images of human operators from depth cameras are used for monitoring and collision detection. A prototype system is developed and linked to industrial robot controllers for adaptive robot control, without the need of programming by the operators. The result of collision detection reveals four safety strategies: the system can alert an operator, stop a robot, move away the robot, or modify the robot’s trajectory away from an approaching operator. These strategies can be activated based on the operator’s existence and location with respect to the robot. The case study of the research further discusses the possibility of implementing the developed method in realistic applications, for example, collaboration between robots and humans in an assembly line.
Original languageEnglish
Pages (from-to)970-980
Number of pages11
JournalInternational Journal of Computer Integrated Manufacturing
Issue number9
Early online date14 Dec 2016
Publication statusPublished - Sept 2017


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