In a given manufacturing setting where workers or robots are coexisting in a confined area and their movements are not coordinated due to loss in communication or because they are freely ranging relative to each other, the development of an onboard safeguard system for a robot becomes a necessity to reduce accidents while the production efficiency is uncompromised. This article develops a two-dimensional dynamics model that predicts the relative position between a robot’s end-of-arm tooling and an approaching object or threat. The safety strategy applied to the robot is derived from the calculation of three parameters: the time of collision predicted from the linear motion between the approaching object and the robot’s end-of-arm tooling, the relative absolute distance, and the overlapping area ratio. These parameters combined are updated in a cost function that is sufficiently alarming the collision severity of an approaching object in real time. This model enables deployment a safe and a productive collaborative interaction in the manufacturing environment where workers and robots are seemingly moving in close proximity within an open workspace with less safeguard barriers.

中文翻译：

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在共享工作空间中实现高效安全的人机协作的无围栏避障方法

在给定的制造环境中，工人或机器人共存于一个狭窄的区域，并且由于通信中断或由于彼此之间可以自由移动而导致他们的运动不协调，因此有必要为机器人开发机载保护系统在不影响生产效率的同时减少事故。本文开发了一个二维动力学模型，该模型可以预测机器人手臂末端工具与接近的物体或威胁之间的相对位置。应用于机器人的安全策略来自三个参数的计算：从接近物体和机器人手臂末端工具之间的线性运动预测的碰撞时间、相对绝对距离和重叠面积比。这些组合的参数在成本函数中更新，该函数足以实时警告接近物体的碰撞严重程度。该模型支持在制造环境中部署安全且高效的协作交互，在该环境中，工人和机器人似乎在开放式工作空间内近距离移动，防护屏障较少。