Velocity control for safe robot guidance based on fused vision and force/torque data
Velocity control for safe robot guidance based on fused vision and force/torque data
复制标题
DOI：
10.1109/mfi.2006.265623
复制
发表时间：
2006-12
期刊：
影响因子：
--
通讯作者：
Stefan Kuhn;Thorsten Gecks;D. Henrich
中科院分区：
文献类型：
--
作者：
Stefan Kuhn;Thorsten Gecks;D. Henrich
我们提出了一种在人/机器人合作方面确保引导机器人运动的方法。为此，我们根据与人类或下一个障碍物的距离限制机器人的最大允许速度，并使用交互人类提供的制导信息生成有效速度。因此，我们融合了相机和力扭矩传感器的两种异构数据类型。摄像机采用差分成像法对机器人的工作空间进行监控。根据这些障碍物信息，分别计算机器人与环境中的人或物体之间的距离。通过扩展差分图像法确定每个图像内的距离。从每个摄像机获取的距离被融合以近似真实机器人到工作空间内物体的距离。这个距离调节了机器人的最大允许速度。力/扭矩传感器提供引导信息，即力的量、方向和力矩。该信息用于生成考虑最大允许速度的机器人运动
We present a method for securing guided robot motions in terms of human/robot cooperation. For this, we limit the maximum allowable velocity of the robot based on the distance to the human or to the next obstacle and generate the effective velocity using guidance informations provided by the interacting human. Therefore, we fuse the two heterogenous data types of a camera and a force torque sensor. The cameras are used to monitor the robot's workspace applying a difference image method. Given this obstacle information, distances are calculated between the robot and humans or objects in the environment respectively. The distance within each image is determined via an extended difference image method. The distances acquired from each camera are fused to approximate the real robot to object distance within the workspace. This distance regulates the maximum allowable velocity of the robot. The force/torque sensor provides the guidance information, i.e. amount, direction of the force and moment. This information is used to generate the robot's movement taking the maximum allowable velocity into consideration