Workspace monitoring enables the system to have 3D information of the workspace environment. It provides the following properties: # Workspace monitoring setup with multiple RGB-D sensors: This reliable vision system allows a full 360º perception of the overall human-robot environment and allows occlusion avoidance. # Automatic extrinsic calibration: A skill based calibration for Robot-sensors system using AR markers promotes the use of this solution for flexible collaboration industries with frequently changing applications. # Consistent Point Cloud generation: A data fusion, filtering and down-sampling is performed to decrease data flow management and increase the robustness and reactivity of the system. # Human activity recognition: Reliable human detection and tracking in all the workspace around the robot. # Safety Zones: Safety strategies (reduced velocity, emergency stop, …) are activated when the human-robot distance approached security thresholds. # Dynamic collision anticipation and avoidance: For safe human robot co-working, the collision threat is anticipated by either stopping the robot or generating of a new safe trajectory with a minimum impact in cycle time.
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