Published November 30, 2022 | Version 1.4
Software Open

Speed And Separation Monitoring Algorithm Simulation

Authors/Creators

  • 1. Vrije Universiteit Brussel

Description

Code Purpose: The code developed allows readers to understand and learn how the speed and separation monitoring algorithm works and how the various variables affect the distances where the robot is slowing down and stopping to prevent any collision. To ease the understanding, we are using constant velocities.

Quick Start Guide:

  1. Download the latest release of Matlab: https://www.mathworks.com/downloads
  2. Clone this repository to download the latest version of the script.
  3. Open the live script SSM_Simulation.mlx in matlab.
  4. Set the variables explained in the script and then run the script by pressing the green button. Also watch the video tutorial below for better understanding.

Video Tutorial: https://youtu.be/4QspuZQLBRk

Software: Compiled on Matlab R2022a

Disclaimer: The algorithm is based on TS/ISO15066 and can be used to estimate and simulate the speed and separation monitoring behaviour. Please only use this script in research, taking extra safety measures to prevent injuries. Consult a certified integrator to implement speed and separation monitoring in a safety-critical manufacturing context.

Notes

If you use this software, please cite it using the metadata from this file.

Files

cfscholz/SpeedAndSeparationMonitoring-1.4.zip

Files (301.6 kB)

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Additional details

Related works

Is supplement to
https://github.com/cfscholz/SpeedAndSeparationMonitoring/tree/1.4 (URL)

References

  • Tom M. Speed and Separation Monitoring for Robotic Applications. April 2022. Link : https://perma.cc/NQ4T-Q63R
  • Paul Glogowski, Alexander Bohmer, Alfred Hypki and Bernd Kuhlenkotter. Robot Speed Adaption in Multiple Trajectory Planning and Integration in a Simulation Tool for Human-Robot Interaction. April 2021. Link : https://perma.cc/S7VM-6FH9
  • Marek Vagas and Alena Galajdova. APPLICATION OF SPEED AND SEPARATION MONITORING TECHNIQUE AT AUTOMATED ASSEMBLY PROCESS. June 2021. DOI: 10.17973/MMSJ.2021_6_2021036
  • Urban B. Himmelsbach, Thomas M. Wendt, Nikolai Hangst, Philipp Gawron and Lukas Stiglmeier. Human–Machine Differentiation in Speed and Separation Monitoring for Improved Efficiency in Human–Robot Collaboration. October 2021. DOI: 10.3390/s21217144
  • Jeremy A. Marvel and Rick Norcross. Implementing speed and separation monitoring in collaborative robot workcells. April 2017. DOI: https://doi.org/10.1016/j.rcim.2016.08.001
  • TDK. Ultra-low Power Integrated Ultrasonic Time-of-Flight Range Sensor (CH101 datasheet). Link : https://perma.cc/JV4A-EGK4
  • Universal Robots. UR10e - user manual. Link: https://perma.cc/4T8B-J9SE