Collision avoidance system with obstacles and humans to collaborative robots arms based on RGB-D data

The collaboration between humans and machines, where humans can share the same work environment without safety equipment due to the collision avoidance characteristic is one of the research topics for the Industry 4.0. This work proposes a system that acquires the space of the environment through an RGB-Depth sensor, verifies the free spaces in the created Point Cloud and executes the trajectory of the collaborative manipulator avoiding collisions. It is demonstrated a simulated environment before the system in real situations, in which the movements of pick-and-place tasks are defined, diverting from virtual obstacles with the RGB-Depth sensor. It is possible to apply this system in real situations with obstacles and humans, due to the results obtained in the simulation. The basic structure of the system is supported by the ROS software, in particular, the Movelt! and Rviz. These tools serve both for simulations and for real applications. The obtained results allow to validate the system using the algorithms PRM and RRT, chosen for being commonly used in the field of robot path planning.This work has been partially funded by Junta de Castilla y León and FEDER funds, under Research Grant No. LE028P17 and by "Ministerio de Ciencia, Innovación y Universidades" of the Kingdom of Spain through grant RTI2018-100683- B-I00.info:eu-repo/semantics/publishedVersio