摘要
当今世界制造业智能化发展趋势下,产品制造过程愈加重视机器人的使用和柔性化生产,轻量灵活的协作机器人与人进行协同作业能有效提高工作效率,实现人与机器的优势互补。但人机协作的开放环境中,动态障碍物如人的运动轨迹具有时变性和不确定性,为了使人与机器人的协作过程更安全、流畅,机器人需要感知人类同伴正在进行的动作,预测人体下一步的运动轨迹,并相应地进行自己的运动规划。具体来说,机器人具备早期预测的能力很重要。为了保证人机共享时空下操作人员的安全,使人与机器更高效地协作,介绍了近年来国内外学者针对人机协作安全策略中人体运动预测方法的研究状况,并对其发展趋势和下一步的研究方向进行探讨。
Under the trend of intelligent development of the manufacturing industry in the world today,more and more attention is paid to the use of robots and flexible production in the product manufacturing process.The light and flexible collaborative robots can effectively improve the work efficiency and realize the complementary advantages of human and robots.But in the open environment of human-robot collaboration,dynamic obstacles such as people’s trajectory is time-varying and uncertain.In order to make the human-robot collaboration process more safe and smooth,robots need to understand what humans are doing,predict the next step trajectories of the human body,and accordingly carry out their own sports planning.In particular,it is important for robots to have the ability to make early predictions.In order to ensure the safety of operators in the human-robot shared space and time,and make the human-robot collaboration more efficient,the research progress of human motion prediction method in human-robot collaboration safety strategy was introduced,its development trend and the future research direction were discussed.
作者
王宪伦
王天宇
WANG Xianlun;WANG Tianyu(College of Electromechanical Engineering,Qingdao University of Science and Technology,Qingdao Shandong 266061,China)
出处
《机床与液压》
北大核心
2022年第12期147-152,共6页
Machine Tool & Hydraulics
基金
国家自然科学基金资助项目(51105213)。
关键词
机器人
人机协作
动作识别
人体运动预测
安全
Robot
Human-robot collaboration
Intention recognition
Human motion prediction
Safe
