Nowadays, industrial robotics requires that robots and humans share the same workspace and collaborate to a certain extent. In such a scenario, the safety is the minimum requirement and, for this reason, many off-the-shelf collaborative robots are now available on the market which, basically, are able to limit the contact forces in the case of impact. Differently from many different works, this article presents a solution to human multi-robot safe interaction in which multiple mobile manipulators are in charge of performing a cooperative task in a workspace shared with human operators. The safety of the interaction is assessed by a safety field that considers the whole system and is general enough concerning its expression. Based on the value of this field, the cooperative task trajectory is properly modified so as to ensure a safe interaction while trying to preserve as much as possible the nominal task, which is instead completely aborted whenever the safety of the interaction cannot be guaranteed. The solution is first designed within a centralized architecture and, then, upon this, a distributed implementation is presented, which, in general, aims to exhibit the same performance as the centralized counterpart. Finally, both simulations and experiments on real industrial robots corroborate the designed solution.

中文翻译：

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人类多机器人安全交互：基于安全评估的轨迹缩放方法


如今，工业机器人要求机器人和人类共享同一工作空间并进行一定程度的协作。在这种场景下，安全性是最低要求，因此，现在市场上有很多现成的协作机器人，基本上能够限制碰撞时的接触力。与许多不同的工作不同，本文提出了一种人类多机器人安全交互的解决方案，其中多个移动机械手负责在与人类操作员共享的工作空间中执行协作任务。交互的安全性是通过安全场来评估的，该安全场考虑整个系统并且对于其表达而言足够通用。根据该字段的值，适当修改协作任务轨迹，以确保交互安全，同时尽可能保留名义任务，而当交互安全无法保证时，则完全中止名义任务。该解决方案首先在集中式架构中设计，然后在此基础上提出分布式实现，其总体目标是表现出与集中式架构相同的性能。最后，对真实工业机器人的模拟和实验证实了设计的解决方案。