High-speed motion tracking and coupling for human-robot collaborative assembly tasks (HiSMoT)

人-机器人协作(HRC)结合了人类和机器人的能力，以在生产行业创造一个更具包容性和以人为中心的未来。在制造过程中，主要是在实验室环境中，已经对HRC的能力进行了广泛的调查。然而，它们在生产系统中的应用并不广泛。性能和安全可能是限制协作效率的主要挑战，尤其是对于更高速度的运动。协作处理对象是HRC当前面临的真正协作能力面临的挑战之一。在这种情况下，机器人和人类应该如何处理物体并预测相互照顾的运动仍不清楚。一种方法是创建机器人运动，以避免由于机器人工具中心点(TCP)的高速而对人体部位造成的风险，这可能是由于对人类运动的反应造成的。这种方法的运动模型耦合是困难的，因为与工业机器人不同，人类运动不容易使用几何或分析公式(如刚体动力学)建模。取而代之的是，用于人体运动生成的数据驱动模型被用于各种研究和工业应用，如体育、健康、电影、人体工程学和生产。这项研究项目研究了在HRC应用中将数据驱动的人类运动模型与机器人运动模型相耦合的实时方法。该项目专注于刚性部件的协作处理。在实时建模中，考虑了高速运动。一个中心的研究问题是，人类和机器人的运动模型是否以及以何种方式可以使用运动捕获驱动的方法来耦合和实现。在这种背景下，研究了潜在空间控制方法，以使其能够遵循高度相互支持和预期的原则。随着个性化生产系统概念的不断演变，速度、准确性、敏捷性和可控性是关键参数。在这方面，人权委员会可能有潜力缩小产品组装系统自动化方面的差距。

Human-robot collaboration (HRC) combines the capabilities of humans and robots in order to create a more inclusive and human-centered future in the production industry. The capabilities of HRC have been investigated extensively for manufacturing processes, mainly in laboratory environments. However, they are not widely applied in production systems. Performance and safety can be a primary challenge that limits collaboration efficiency, particularly for motions at higher speeds. The collaborative handling of an object is one of the current challenges facing HRC's real collaboration capabilities. In this context, how robots and humans should behave to handle an object and anticipate motion for mutual care is still unclear. One approach is to create robot motions that avoid risks to human body parts caused by high speeds of the robot tool center point (TCP), which might result from reactions to human motions. Coupling motion models for such approaches is difficult because unlike industrial robots, human motion is not easily modeled using geometric or analytical formulations such as rigid body dynamics. Instead, data-driven models for human motion generation are employed in various research and industrial applications such as sports, health, film, ergonomics and production. This research project investigates real-time capable approaches to coupling data driven human motion models with robot motion models in HRC applications. The project concentrates on the collaborative handling of rigid parts. In real time modeling, high speed motions are considered. A central research question is whether and in what way human and robot motion models can be coupled and implemented using motion capture-driven approaches. In this context, latent space control approaches are investigated for the capability to follow the high mutual support and anticipation principle. With the evolving concept of a personalized production system, speed, accuracy, agility and controllability are key parameters. In this regard, HRC may have the potential to narrow a gap in the automation of product assembly systems.