Intelligent Speed and Separation Monitoring in Human-Robot Collaboration Safety

This paper proposes an enhancement method to improve robot decision accuracy, in Speed and Separation Monitoring (SSM), based on ISO/TS 15066 safety standard. The method utilizes Machine Learning (ML), Artificial Intelligence (AI), along with a depth camera, which measure distances and tracks human hand movement. The developed algorithm is implemented within the Robot Operating System (ROS) environment, allowing a four Degree of Freedom (4DOF) robot to make decisions based on protective separation distances. A test rig is developed to define these thresholds within four safety zones, for a pick and place application. The experimental results show that the defined thresholds enhance both operational efficiency and safety.