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Human-Robot Interaction Part 12

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Tham khảo tài liệu 'human-robot interaction part 12', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Skill Based Approach WITH Human-Robot Interaction 15 Safe Cooperation between Human Operators and Visually Controlled Industrial Manipulators J. A. Corrales G. J. Garcia F. A. Candelas J. Pomares and F. Torres University of Alicante Spain 1. Introduction The development of industrial tasks where human operators and robots collaborate in order to perform a common goal is a challenging research topic on present robotics. Nowadays industrial robots are isolated in fenced workspaces where human cannot enter in order to avoid collisions. However this configuration misses the opportunity of developing more flexible industrial tasks where humans and robots work together. This collaboration takes advantage of the complementary features of both entities. On the one hand industrial robots are able to perform repetitive tasks which can be exhausting and monotonous for human operators. On the other hand humans are able to perform specialized tasks which require intelligence or dexterity. Thereby industrial tasks can be improved substantially by making humans and robots collaborate in the same workspace. The main goal of the work described in this chapter is the development of a human-robot interaction system which enables this collaboration and guarantees the safety of the human. This system is composed of two subsystems the human tracking system and the robot control system. The human tracking system deals with the precise real-time localization of the human operator in the industrial environment. It is composed of two systems an inertial motion capture system and an Ultra-WideBand localization system. On the one hand the inertial motion capture system is composed of 18 IMUs Inertial Measurement Units which are attached to the body of the human operator. These sensors obtain precise orientation measurements of the limbs of the body of the operator and thus full-body movements of the operator are tracked. On the other hand the Ultra-WideBand localization system obtains a .