Cogurcu, Yunus EmreDouthwaite, James A.Maddock, StevePeter VangorpMartin J. Turner2022-08-162022-08-162022978-3-03868-188-5https://doi.org/10.2312/cgvc.20221177https://diglib.eg.org:443/handle/10.2312/cgvc20221177Worker productivity in manufacturing could be increased by reducing the distance between robots and humans in human-robot collaboration (HRC). However, physical cages generally limit this interaction. We use Augmented Reality (AR) to visualise virtual safety zones on a real robot arm, thereby replacing the physical cages and bringing humans and robots closer together. We demonstrate this with a collaborative pick and place application that makes use of a Universal Robots 10 (UR10) robot arm and a Microsoft HoloLens 2 for control and visualisation. This mimics a real task in an industrial robot cell. The virtual safety zone sizes are based on ISO standards for HRC. However, we are the first to also consider hardware and network latencies in the calculations of the virtual safety zone sizes.CCS Concepts: Computing methodologies → Augmented Reality; Safety; Safe Human-Robot Collaboration; Hardware → Microsoft HoloLens 2; Robotiq Gripper 2F-85; Universal Robots 10 (UR10)Computing methodologies → Augmented RealitySafetySafe HumanRobot CollaborationHardware → Microsoft HoloLens 2Robotiq Gripper 2F85Universal Robots 10 (UR10)10.2312/cgvc.2022117787-926 pages