Joint Level Collision Avoidance for Industrial Robots

A system concept for industrial collision avoidance is presented. The paper searches solutions for small and medium enterprises which have strictly limited resources for robot installations. Key factor is to use commercially available components and user-friendly algorithms. The experimental setup consists of a 7-axis industrial robot and an industrial robot controller. The obstacle detecting sensors are applied on the robotic arm. Designing guidelines are formed according to industrial considerations and preliminary experiments are presented.