Multi-sensor control system for safe human-robot collaboration

In the framework of Human-Robot Collaboration, a robot and a human operator may need to move in close coordination within the same workspace. A contactless coordinated motion can be achieved using sensors to localize the human in the robot workspace. The robot end-effector should maintain a prescribed position with respect to the head of a moving human while pointing at it. At the same time, the robot should avoid collisions with the operator or with any other nearby obstacles. In this work, we propose a multi-sensor control system that handles these objectives efficiently in real time.