A control system based on multiple sensors is proposed for the safe collaboration of a robot with a human. New constrained and contactless human-robot coordinated motion tasks are defined to control the robot end-effector so as to maintain a desired relative position to the human head while pointing at it. Simultaneously, the robot avoids any collision with the operator and with nearby static or dynamic obstacles, based on distance computations performed in the depth space of a RGB-D sensor. The various tasks are organized with priorities and executed under hard joint bounds using the Saturation in the Null Space (SNS) algorithm. A direct human-robot communication is integrated within a mixed reality interface using a stereo camera and an augmented reality system. The proposed system is significant for on-line, collaborative quality assessment phases in a manufacturing process. Various experimental validation scenarios using a 7-dof KUKA LWR4 robot are presented.

提出了一种基于多个传感器的控制系统，用于机器人与人的安全协作。定义了新的受约束且非接触式的人类机器人协调运动任务，以控制机器人末端执行器，以便在指向人类头部时保持与人类头部的所需相对位置。同时，根据在RGB-D传感器的深度空间中执行的距离计算，机器人可以避免与操作员以及附近的静态或动态障碍物发生任何碰撞。各种任务都按优先级进行组织，并使用零空间中的饱和度（SNS）算法在硬联合边界内执行。使用立体摄像头和增强现实系统，将人机直接通信集成在混合现实界面中。拟议的系统对于在线，制造过程中的协作质量评估阶段。展示了使用7-dof KUKA LWR4机器人进行的各种实验验证方案。