6533b831fe1ef96bd1299784
RESEARCH PRODUCT
Evaluation of Perception Latencies in a Human-Robot Collaborative Environment
Geir HovlandAtle Aalerudsubject
0209 industrial biotechnology020901 industrial engineering & automationComputer sciencePerceptionmedia_common.quotation_subject010401 analytical chemistryReal-time computing02 engineering and technologyLatency (engineering)01 natural sciencesHuman–robot interaction0104 chemical sciencesmedia_commondescription
The latency in vision-based sensor systems used in human-robot collaborative environments is an important safety parameter which in most cases has been neglected by researchers. The main reason for this neglect is the lack of an accurate ground-truth sensor system with a minimal delay to benchmark the vision-sensors against. In this paper the latencies of 3D vision-based sensors are experimentally evaluated and analyzed using an accurate laser-tracker system which communicates on a dedicated EtherCAT channel with minimal delay. The experimental results in the paper demonstrate that the latency in the vision-based sensor system is many orders higher than the latency in the control and actuation system.
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2020-05-01 | 2020 IEEE International Conference on Robotics and Automation (ICRA) |