Safe human-robot-cooperation: problem analysis, system concept and fast sensor fusion
Safe human-robot-cooperation: problem analysis, system concept and fast sensor fusion
复制标题
安全的人机合作：问题分析、系统概念和快速传感器融合
DOI：
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发表时间：
2001
期刊：
影响因子：
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通讯作者：
D. Henrich
中科院分区：
文献类型：
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作者：
D. Ebert;D. Henrich
我们提出了一个系统的概念，允许人类安全地工作在同一环境中的机器人操作器。几个摄像头测量公共工作空间。一个基于查找表的融合算法被用来直接从相机的图像空间后向投影到机械手的配置空间。在查找表中，摄像机校准和机器人几何形状都被隐式编码。对于实验，使用常规的6轴工业机械手。工作空间由四个灰度摄像机测量。由于目前的机器人控制器的限制，系统的计算昂贵的部分在服务器PC上执行，该服务器PC通过以太网与机器人控制器通信。
We present a system concept allowing humans to work safely in the same environment as a robot manipulator. Several cameras survey the common workspace. A look-up-table-based fusion algorithm is used to back-project directly from the image spaces of the cameras to the manipulator's configuration space. In the look-up-tables both, the camera calibration and the robot geometry are implicitly encoded. For experiments, a conventional 6 axis industrial manipulator is used. The work space is surveyed by four grayscale cameras. Due to the limits of present robot controllers, the computationally expensive parts of the system are executed on a server PC that communicates with the robot controller via Ethernet.