Human–robot collaboration will be an essential part of the production processes in the factories of tomorrow. In this paper, a human–robot hand‐over control strategy is presented. Human and robot can be both giver and receiver. A path‐planning algorithm drives the robotic manipulator towards the hand of the human and permits to adapt the pose of the tool center point of the robot to the pose of the hand of the human worker. The movements of the operator are acquired with a multi 3D‐sensors setup so to avoid any possible occlusion related to the presence of the robot or other dynamic obstacles. Estimation of the predicted position of the hand is performed to reduce the waiting time of the operator during the hand‐over task. The hardware setup is described, and the results of experimental tests, conducted to verify the effectiveness of the control strategy, are presented and discussed.

中文翻译：

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用于人机切换应用的基于视觉的控制架构

人机协作将是未来工厂生产过程中必不可少的一部分。在本文中，提出了一种人机交互控制策略。人和机器人都可以是给予者和接受者。路径规划算法将机器人操纵器推向人的手，并允许将机器人的工具中心点的位置调整为适合人类工人的手的位置。操作员的动作是通过多个3D传感器设置获取的，从而避免了与机器人的存在或其他动态障碍物有关的任何可能的遮挡。估计手的预测位置是为了减少操作员在交接任务期间的等待时间。描述了硬件设置，以及实验测试的结果，