Optical Workspace Monitoring System for Safeguarding Tools on the Mobile Manipulator VALERI

The EU-funded project VALERI aimed to validate the use of mobile manipulators for aerospace production. This paper focuses on the development and application of a 2 1/2 D workspace monitoring system for safeguarding the tool when working in close proximity to human operators. The sensor set up, the operational principles, and functional tests when used as a safety sensor will be described in this contribution.