Tham khảo tài liệu 'human-robot interaction part 13', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Safe Cooperation between Human Operators and Visually Controlled Industrial Manipulators 221 global AABBs level 1 are used for distances greater than 2m the local AABBs level 2 are used for the distances between 2m and 1m and the SSLs level 3 are used for distances smaller than 1m. Fig. 12 depicts the evolution of the minimum human-robot distance obtained by the distance algorithm for the disassembly task. This plot shows how the human operator approaches the robot while the robot performs the time-independent visual servoing path tracking from iteration 1 to iteration 289. In iteration 290 the safety strategy starts and the robot controller pauses the path tracking. The safety strategy is executed from iteration 290 to iteration 449 and it tries to keep the human-robot distance above the safety threshold . In iteration 450 the robot controller re-activates path tracking because the human-robot distance is again greater than the threshold when the human is going away from the workspace. Fig. 12. Evolution of the minimum human-robot distance during the disassembly task. Fig. . depicts the error evolution of the distance obtained by the algorithm in Table 2 with regard to the distance values obtained from the SSL bounding volumes which are used as ground-truth. This figure shows an assumable mean error of for distances greater than 1m. For distances smaller than 1m between iterations 280 and 459 the error is null because the SSLs are used for the distance computation. The proposed distance algorithm obtains more precise distance values than previous research. In particular Fig. . shows the difference between the distance values obtained by the algorithm in Table 2 and the distance values computed by the algorithm in Garcia et al. 2009a where no bounding volumes are generated and only the end-effector of the robot is taken into account for the distance computation instead of all its links. Fig. 14 shows the histogram of distance tests which are .
