Safe collaboration of humans and SCARA robots

This paper presents a method to determine distance between human operator and SCARA robot using computer vision in order to provide a safe workstation for human robot collaboration. Kinect sensor is used as the input device to the system. Kinect has four streams of data among which depth data is effectively used in this approach. The measured distance is used to calculate danger index. Online trajectory generation allows the robot to perform appropriate action. The results of applying this system to FUM SCARA is presented.