Automation, Communication and Cybernetics in Science and Engineering 20152016 by Sabina Jeschke Ingrid Isenhardt Frank Hees & Klaus Henning

Author:Sabina Jeschke, Ingrid Isenhardt, Frank Hees & Klaus Henning
Language: eng
Format: epub
Publisher: Springer International Publishing, Cham

4 Evaluation

The presented approach was evaluated using two six axis robots (ABB IRB 120, see Figure 7). A socket communication based on TCP/IP is used for sending sensor information from the robots to a central control computer. Here the necessary transformations are calculated using the ROS framework [24]. A python based program is working as a watchdog and conducts collision detection. If the robots get into impact, the watchdog triggers an emergency stop. Considering the whole system a response time of s is measured. Therefore in this use case a forward looking collision detection is mandatory for safe movements.

Test runs were based on the decision tree in Figure 5. They were successfully performed for a complete statement coverage of this decision tree.

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