| Resumo: | The new paradigms of Industry 4.0 demand the collabora- tion between robot and humans. They could help and collaborate each other without any additional safety unlike other manipulators. The robot should have the ability of acquire the environment and plan (or re-plan) on-the- y the movement avoiding the obstacles and people. This paper proposes a system that acquires the environment space, based on a kinect sensor, performs the path planning of a UR5 manipulator for pick and place tasks while avoiding the objects, based on the point cloud from kinect. Results allow to validate the proposed system.
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