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In this paper, a speed and separation monitoring (SSM) based safetycontroller using three time-of-flight ranging sensor arrays fastened to therobot links, is implemented. Based on the human-robot minimum distance andtheir relative velocities, a controller output characterized by a modulatingrobot operation speed is obtained. To avert self-avoidance, a self occlusiondetection method is implemented using ray-casting technique to filter out thedistance values associated with the robot-self and the restricted robotworkspace. For validation, the robot workspace is monitored using a motioncapture setup to create a digital twin of the human and robot. This setup isused to compare the safety,performance and productivity of various versions ofSSM safety configurations based on minimum distance between human and robotcalculated using on-robot Time-of-Flight sensors, motion capture and a 2Dscanning lidar.

Speed and Separation Monitoring using on-robot Time--of--Flight laser--ranging sensor arrays